From b11e2a22f8b3af7300245b7c86fb09d297ce3cbe Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sun, 10 Aug 2025 21:15:17 +0100
Subject: [PATCH 1/3] Add mission statistics

---
 .../components/missions/missionStatistics.jsx | 220 ++++++++++++++++++
 gcs/src/missions.jsx                          |  35 +--
 2 files changed, 241 insertions(+), 14 deletions(-)
 create mode 100644 gcs/src/components/missions/missionStatistics.jsx

diff --git a/gcs/src/components/missions/missionStatistics.jsx b/gcs/src/components/missions/missionStatistics.jsx
new file mode 100644
index 000000000..242b5b3c4
--- /dev/null
+++ b/gcs/src/components/missions/missionStatistics.jsx
@@ -0,0 +1,220 @@
+/*
+  The MissionStatistics component calculates and displays various statistics
+  about the mission on the missions screen.
+*/
+
+import { Tooltip } from "@mantine/core"
+import { distance } from "@turf/turf"
+import { useEffect, useState } from "react"
+import { intToCoord } from "../../helpers/dataFormatters"
+import { filterMissionItems } from "../../helpers/filterMissions"
+import { isGlobalFrameHomeCommand } from "../../missions"
+
+function calculateMaxAltitude(missionItems) {
+  missionItems = missionItems.filter(
+    (item) => isGlobalFrameHomeCommand(item) === false,
+  )
+
+  return Math.max(...missionItems.map((item) => item.z || 0), 0)
+}
+
+function calculateMaxDistanceBetweenWaypoints(missionItems) {
+  missionItems = missionItems.filter(
+    (item) => isGlobalFrameHomeCommand(item) === false,
+  )
+  if (missionItems.length < 2) return 0
+  let maxDistance = 0
+  let maxDistancePoints = []
+
+  // Remove any waypoints without coordinates
+  missionItems = missionItems.filter((item) => item.x !== 0 && item.y !== 0)
+
+  for (let i = 0; i < missionItems.length - 1; i++) {
+    const item1 = missionItems[i]
+    const item2 = missionItems[i + 1]
+    const distanceBetweenPoints = distance(
+      [intToCoord(item1.y), intToCoord(item1.x)],
+      [intToCoord(item2.y), intToCoord(item2.x)],
+      {
+        units: "meters",
+      },
+    )
+    if (distanceBetweenPoints > maxDistance) {
+      maxDistance = distanceBetweenPoints
+      maxDistancePoints = [item1, item2]
+    }
+  }
+
+  // distance to 2dp
+  maxDistance = Math.round(maxDistance * 100) / 100
+
+  return { maxDistance: maxDistance, points: maxDistancePoints }
+}
+
+function calculateMaxSlopeGradient(missionItems) {
+  const homeCommand = isGlobalFrameHomeCommand(missionItems[0])
+    ? missionItems[0]
+    : null
+  if (homeCommand) {
+    missionItems = missionItems.slice(1) // Remove home command if it exists
+  }
+
+  if (missionItems.length < 2) return 0
+  let maxGradient = 0
+  let maxDistancePoints = []
+
+  // If the first command is a takeoff command, use the coordinates from the home location
+  if (homeCommand && missionItems[0].command === 22) {
+    missionItems[0].x = homeCommand.x
+    missionItems[0].y = homeCommand.y
+  }
+
+  for (let i = 0; i < missionItems.length - 1; i++) {
+    const item1 = missionItems[i]
+    const item2 = missionItems[i + 1]
+
+    if (item1.z === undefined || item2.z === undefined) continue
+
+    const verticalDistance = Math.abs(item2.z - item1.z)
+    const horizontalDistance = distance(
+      [intToCoord(item1.y), intToCoord(item1.x)],
+      [intToCoord(item2.y), intToCoord(item2.x)],
+      { units: "meters" },
+    )
+
+    if (horizontalDistance === 0) continue // Avoid division by zero
+
+    const gradient = (verticalDistance / horizontalDistance) * 100 // Convert to percentage
+
+    if (gradient > maxGradient) {
+      maxGradient = gradient
+      maxDistancePoints = [item1, item2]
+    }
+  }
+
+  maxGradient = Math.round(maxGradient * 100) / 100 // Round to two decimal places
+
+  return { maxGradient: maxGradient, points: maxDistancePoints }
+}
+
+function calculateTotalDistance(missionItems) {
+  // This function should calculate the total distance of the waypoints,
+  // ignoring any waypoints without coordinates. If the jump command (117) is present,
+  // then the distance for all of the jump waypoints for the number of laps should
+  // be calculated as well.
+  let totalDistance = 0
+  let lastPoint = null
+
+  for (let i = 0; i < missionItems.length; i++) {
+    const item = missionItems[i]
+
+    if (item.command === 177) {
+      const jumpTo = item.param1
+      const jumpCount = item.param2
+
+      // Find the waypoint with the seq value equal to jumpTo
+      const jumpWaypoint = missionItems.find((wp) => wp.seq === jumpTo)
+
+      if (jumpWaypoint) {
+        // Calculate the distance from the jumpWaypoint to the current waypoint
+        // times the number of jumps
+        if (lastPoint) {
+          totalDistance +=
+            distance(
+              [intToCoord(lastPoint.y), intToCoord(lastPoint.x)],
+              [intToCoord(jumpWaypoint.y), intToCoord(jumpWaypoint.x)],
+              { units: "meters" },
+            ) * jumpCount
+        }
+
+        for (let j = 0; j < jumpCount; j++) {
+          // Slice the missionItems list between jumpTo.seq and i
+          const jumpItems = missionItems.slice(jumpWaypoint.seq, i)
+          console.log(jumpItems, calculateTotalDistance(jumpItems))
+          totalDistance += calculateTotalDistance(jumpItems)
+        }
+      }
+    }
+
+    if (item.x === 0 || item.y === 0) continue // Skip waypoints without coordinates
+
+    if (lastPoint) {
+      totalDistance += distance(
+        [intToCoord(lastPoint.y), intToCoord(lastPoint.x)],
+        [intToCoord(item.y), intToCoord(item.x)],
+        { units: "meters" },
+      )
+    }
+    lastPoint = item
+  }
+
+  // Round to two decimal places and convert to km
+  return Math.round(totalDistance * 100) / 100 / 1000
+}
+
+function StatisticItem({ label, value, units, tooltip = null }) {
+  const displayString = `${label}: ${value}${units || ""}`
+  return (
+    <>
+      {tooltip ? (
+        <Tooltip label={tooltip}>
+          <p>{displayString}</p>
+        </Tooltip>
+      ) : (
+        <p>{displayString}</p>
+      )}
+    </>
+  )
+}
+
+export default function MissionStatistics({ missionItems }) {
+  const [filteredMissionItems, setFilteredMissionItems] = useState([])
+  const [totalDistance, setTotalDistance] = useState(0)
+  const [maxDistanceBetweenWaypoints, setMaxDistanceBetweenWaypoints] =
+    useState({ maxDistance: 0, points: null })
+  const [maxAltitude, setMaxAltitude] = useState(0)
+  const [maxSlopeGradient, setMaxSlopeGradient] = useState({
+    maxGradient: 0,
+    points: null,
+  })
+
+  useEffect(() => {
+    setFilteredMissionItems(filterMissionItems(missionItems))
+  }, [missionItems])
+
+  useEffect(() => {
+    if (filteredMissionItems.length === 0) return
+
+    setTotalDistance(calculateTotalDistance(missionItems))
+    setMaxAltitude(calculateMaxAltitude(filteredMissionItems))
+    setMaxDistanceBetweenWaypoints(
+      calculateMaxDistanceBetweenWaypoints(filteredMissionItems),
+    )
+    setMaxSlopeGradient(calculateMaxSlopeGradient(filteredMissionItems))
+  }, [filteredMissionItems])
+
+  return (
+    <>
+      <StatisticItem label="Total distance" value={totalDistance} units="km" />
+      <StatisticItem
+        label="Max distance between waypoints"
+        value={maxDistanceBetweenWaypoints.maxDistance}
+        tooltip={
+          maxDistanceBetweenWaypoints.points &&
+          `Between ${maxDistanceBetweenWaypoints.points[0].seq} and ${maxDistanceBetweenWaypoints.points[1].seq}`
+        }
+        units="m"
+      />
+      <StatisticItem label="Max altitude" value={maxAltitude} units="m" />
+      <StatisticItem
+        label="Max slope gradient"
+        value={maxSlopeGradient.maxGradient}
+        tooltip={
+          maxSlopeGradient.points &&
+          `Between ${maxSlopeGradient.points[0].seq} and ${maxSlopeGradient.points[1].seq}`
+        }
+        units="%"
+      />
+    </>
+  )
+}
diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index fd0b1181f..cfc76d14a 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -27,6 +27,7 @@ import {
 import { IconInfoCircle } from "@tabler/icons-react"
 import Layout from "./components/layout"
 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"
@@ -45,6 +46,20 @@ import { socket } from "./helpers/socket"
 
 const coordsFractionDigits = 7
 
+export function isGlobalFrameHomeCommand(waypoint) {
+  const globalFrameValue = parseInt(
+    Object.keys(MAV_FRAME_LIST).find(
+      (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
+    ),
+  )
+  return (
+    waypoint.frame === globalFrameValue &&
+    waypoint.x !== 0 &&
+    waypoint.y !== 0 &&
+    waypoint.command === 16
+  )
+}
+
 export default function Missions() {
   // Local Storage
   const [connected] = useSessionStorage({
@@ -248,20 +263,6 @@ export default function Missions() {
     })
   }
 
-  function isGlobalFrameHomeCommand(waypoint) {
-    const globalFrameValue = parseInt(
-      Object.keys(MAV_FRAME_LIST).find(
-        (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
-      ),
-    )
-    return (
-      waypoint.frame === globalFrameValue &&
-      waypoint.x !== 0 &&
-      waypoint.y !== 0 &&
-      waypoint.command === 16
-    )
-  }
-
   function updateHomePositionBasedOnWaypoints(waypoints) {
     if (waypoints.length > 0) {
       const potentialHomeLocation = waypoints[0]
@@ -716,6 +717,12 @@ export default function Missions() {
                     )}
                   </p>
                 </div>
+
+                <Divider className="my-1" />
+
+                <div className="flex flex-col gap-2">
+                  <MissionStatistics missionItems={missionItems} />
+                </div>
               </div>
             </ResizableBox>
 

From 7568873cc25b405301572c4cbc433d7a6bfbb923 Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sun, 10 Aug 2025 21:27:14 +0100
Subject: [PATCH 2/3] Address copilot review comments

---
 gcs/src/components/missions/missionStatistics.jsx | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/gcs/src/components/missions/missionStatistics.jsx b/gcs/src/components/missions/missionStatistics.jsx
index 242b5b3c4..72c2ea733 100644
--- a/gcs/src/components/missions/missionStatistics.jsx
+++ b/gcs/src/components/missions/missionStatistics.jsx
@@ -99,7 +99,7 @@ function calculateMaxSlopeGradient(missionItems) {
 
 function calculateTotalDistance(missionItems) {
   // This function should calculate the total distance of the waypoints,
-  // ignoring any waypoints without coordinates. If the jump command (117) is present,
+  // ignoring any waypoints without coordinates. If the jump command (177) is present,
   // then the distance for all of the jump waypoints for the number of laps should
   // be calculated as well.
   let totalDistance = 0
@@ -128,9 +128,9 @@ function calculateTotalDistance(missionItems) {
         }
 
         for (let j = 0; j < jumpCount; j++) {
-          // Slice the missionItems list between jumpTo.seq and i
-          const jumpItems = missionItems.slice(jumpWaypoint.seq, i)
-          console.log(jumpItems, calculateTotalDistance(jumpItems))
+          // Slice the missionItems list between the actual array index of jumpWaypoint and i
+          const jumpStartIdx = missionItems.findIndex((wp) => wp.seq === jumpTo)
+          const jumpItems = missionItems.slice(jumpStartIdx, i)
           totalDistance += calculateTotalDistance(jumpItems)
         }
       }
@@ -148,8 +148,7 @@ function calculateTotalDistance(missionItems) {
     lastPoint = item
   }
 
-  // Round to two decimal places and convert to km
-  return Math.round(totalDistance * 100) / 100 / 1000
+  return Math.round(totalDistance * 100) / 100
 }
 
 function StatisticItem({ label, value, units, tooltip = null }) {
@@ -185,6 +184,7 @@ export default function MissionStatistics({ missionItems }) {
   useEffect(() => {
     if (filteredMissionItems.length === 0) return
 
+    // Use unfiltered mission items
     setTotalDistance(calculateTotalDistance(missionItems))
     setMaxAltitude(calculateMaxAltitude(filteredMissionItems))
     setMaxDistanceBetweenWaypoints(
@@ -195,7 +195,7 @@ export default function MissionStatistics({ missionItems }) {
 
   return (
     <>
-      <StatisticItem label="Total distance" value={totalDistance} units="km" />
+      <StatisticItem label="Total distance" value={totalDistance} units="m" />
       <StatisticItem
         label="Max distance between waypoints"
         value={maxDistanceBetweenWaypoints.maxDistance}

From a1136fbe3c49135eb84279464f7bb62d389779db Mon Sep 17 00:00:00 2001
From: Kush Makkapati <kush.makkapati@icloud.com>
Date: Sat, 16 Aug 2025 22:01:57 +0100
Subject: [PATCH 3/3] Move command into filterMissions file

---
 .../components/missions/missionStatistics.jsx |  6 ++++--
 gcs/src/helpers/filterMissions.js             | 19 ++++++++++++++++++-
 gcs/src/missions.jsx                          | 15 +--------------
 3 files changed, 23 insertions(+), 17 deletions(-)

diff --git a/gcs/src/components/missions/missionStatistics.jsx b/gcs/src/components/missions/missionStatistics.jsx
index 72c2ea733..95ecd10bb 100644
--- a/gcs/src/components/missions/missionStatistics.jsx
+++ b/gcs/src/components/missions/missionStatistics.jsx
@@ -7,8 +7,10 @@ import { Tooltip } from "@mantine/core"
 import { distance } from "@turf/turf"
 import { useEffect, useState } from "react"
 import { intToCoord } from "../../helpers/dataFormatters"
-import { filterMissionItems } from "../../helpers/filterMissions"
-import { isGlobalFrameHomeCommand } from "../../missions"
+import {
+  filterMissionItems,
+  isGlobalFrameHomeCommand,
+} from "../../helpers/filterMissions"
 
 function calculateMaxAltitude(missionItems) {
   missionItems = missionItems.filter(
diff --git a/gcs/src/helpers/filterMissions.js b/gcs/src/helpers/filterMissions.js
index 1c21df4bd..18198a5f9 100644
--- a/gcs/src/helpers/filterMissions.js
+++ b/gcs/src/helpers/filterMissions.js
@@ -1,4 +1,7 @@
-import { FILTER_MISSION_ITEM_COMMANDS_LIST } from "./mavlinkConstants"
+import {
+  FILTER_MISSION_ITEM_COMMANDS_LIST,
+  MAV_FRAME_LIST,
+} from "./mavlinkConstants"
 
 export function filterMissionItems(missionItems) {
   const filteredMissionItems = []
@@ -23,3 +26,17 @@ export function filterMissionItems(missionItems) {
 
   return filteredMissionItems
 }
+
+export function isGlobalFrameHomeCommand(waypoint) {
+  const globalFrameValue = parseInt(
+    Object.keys(MAV_FRAME_LIST).find(
+      (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
+    ),
+  )
+  return (
+    waypoint.frame === globalFrameValue &&
+    waypoint.x !== 0 &&
+    waypoint.y !== 0 &&
+    waypoint.command === 16
+  )
+}
diff --git a/gcs/src/missions.jsx b/gcs/src/missions.jsx
index cfc76d14a..16edc9e08 100644
--- a/gcs/src/missions.jsx
+++ b/gcs/src/missions.jsx
@@ -32,6 +32,7 @@ import MissionsMapSection from "./components/missions/missionsMap"
 import RallyItemsTable from "./components/missions/rallyItemsTable"
 import NoDroneConnected from "./components/noDroneConnected"
 import { coordToInt, intToCoord } from "./helpers/dataFormatters"
+import { isGlobalFrameHomeCommand } from "./helpers/filterMissions"
 import {
   COPTER_MODES_FLIGHT_MODE_MAP,
   MAV_AUTOPILOT_INVALID,
@@ -46,20 +47,6 @@ import { socket } from "./helpers/socket"
 
 const coordsFractionDigits = 7
 
-export function isGlobalFrameHomeCommand(waypoint) {
-  const globalFrameValue = parseInt(
-    Object.keys(MAV_FRAME_LIST).find(
-      (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
-    ),
-  )
-  return (
-    waypoint.frame === globalFrameValue &&
-    waypoint.x !== 0 &&
-    waypoint.y !== 0 &&
-    waypoint.command === 16
-  )
-}
-
 export default function Missions() {
   // Local Storage
   const [connected] = useSessionStorage({