Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into restyling

Conflicts:
	src/ui/MainWindow.cc

src/comm/QGCHilLink.h

@@ -114,6 +114,9 @@ signals:
     /** @brief Selected sim version changed */
     void versionChanged(const QString& version);
 
+    /** @brief Selected sim version changed */
+    void versionChanged(const int version);
+
     /** @brief Sensor leve HIL state changed */
     void sensorHilChanged(bool enabled);
 };

src/comm/QGCXPlaneLink.cc

@@ -54,7 +54,7 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     simUpdateLast(QGC::groundTimeMilliseconds()),
     simUpdateLastText(QGC::groundTimeMilliseconds()),
     simUpdateHz(0),
-    _sensorHilEnabled(true)
+    _sensorHilEnabled(false)
 {
     this->localHost = localHost;
     this->localPort = localPort/*+mav->getUASID()*/;

src/configuration.h

@@ -11,7 +11,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.9 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.0.9 (beta RC1)"
 
 namespace QGC
 

src/uas/UASWaypointManager.cc

@@ -32,6 +32,8 @@ This file is part of the QGROUNDCONTROL project
 #include "UASWaypointManager.h"
 #include "UAS.h"
 #include "mavlink_types.h"
+#include "UASManager.h"
+#include "MainWindow.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 20        ///< minimum delay between sent messages
@@ -136,9 +138,9 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 
         //Clear the old edit-list before receiving the new one
         if (read_to_edit == true){
-            while(waypointsEditable.size()>0) {
+            while(waypointsEditable.count()>0) {
                 Waypoint *t = waypointsEditable[0];
-                waypointsEditable.remove(0);
+                waypointsEditable.removeAt(0);
                 delete t;
             }
             emit waypointEditableListChanged();
@@ -331,10 +333,10 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 
 int UASWaypointManager::setCurrentEditable(quint16 seq)
 {
-    if (seq < waypointsEditable.size()) {
+    if (seq < waypointsEditable.count()) {
         if(current_state == WP_IDLE) {
             //update local main storage
-            for(int i = 0; i < waypointsEditable.size(); i++) {
+            for(int i = 0; i < waypointsEditable.count(); i++) {
                 if (waypointsEditable[i]->getId() == seq) {
                     waypointsEditable[i]->setCurrent(true);
                 } else {
@@ -370,13 +372,17 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
 {
     if (wp)
     {
-        wp->setId(waypointsEditable.size());
-        if (enforceFirstActive && waypointsEditable.size() == 0)
+        // Check if this is the first waypoint in an offline list
+        if (waypointsEditable.count() == 0 && uas == NULL)
+            MainWindow::instance()->showCriticalMessage(tr("OFFLINE Waypoint Editing Mode"), tr("You are in offline editing mode. Make sure to safe your mission to a file before connecting to a system - you will need to load the file into the system, the offline list will be cleared on connect."));
+
+        wp->setId(waypointsEditable.count());
+        if (enforceFirstActive && waypointsEditable.count() == 0)
         {
             wp->setCurrent(true);
             currentWaypointEditable = wp;
         }
-        waypointsEditable.insert(waypointsEditable.size(), wp);
+        waypointsEditable.insert(waypointsEditable.count(), wp);
         connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*)));
 
         emit waypointEditableListChanged();
@@ -389,14 +395,21 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
  */
 Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
 {
+    // Check if this is the first waypoint in an offline list
+    if (waypointsEditable.count() == 0 && uas == NULL)
+        MainWindow::instance()->showCriticalMessage(tr("OFFLINE Waypoint Editing Mode"), tr("You are in offline editing mode. Make sure to safe your mission to a file before connecting to a system - you will need to load the file into the system, the offline list will be cleared on connect."));
+
     Waypoint* wp = new Waypoint();
-    wp->setId(waypointsEditable.size());
-    if (enforceFirstActive && waypointsEditable.size() == 0)
+    wp->setId(waypointsEditable.count());
+    wp->setFrame((MAV_FRAME)getFrameRecommendation());
+    wp->setAltitude(getAltitudeRecommendation());
+    wp->setAcceptanceRadius(getAcceptanceRadiusRecommendation());
+    if (enforceFirstActive && waypointsEditable.count() == 0)
     {
         wp->setCurrent(true);
         currentWaypointEditable = wp;
     }
-    waypointsEditable.insert(waypointsEditable.size(), wp);
+    waypointsEditable.append(wp);
     connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*)));
 
     emit waypointEditableListChanged();
@@ -406,27 +419,27 @@ Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
 
 int UASWaypointManager::removeWaypoint(quint16 seq)
 {
-    if (seq < waypointsEditable.size())
+    if (seq < waypointsEditable.count())
     {
         Waypoint *t = waypointsEditable[seq];
 
         if (t->getCurrent() == true) //trying to remove the current waypoint
         {
-            if (seq+1 < waypointsEditable.size()) // setting the next waypoint as current
+            if (seq+1 < waypointsEditable.count()) // setting the next waypoint as current
             {
                 waypointsEditable[seq+1]->setCurrent(true);
             }
-            else if (seq-1 >= 0) //if deleting the last on the list, then setting the previous waypoint as current
+            else if (seq-1 >= 0) // if deleting the last on the list, then setting the previous waypoint as current
             {
                 waypointsEditable[seq-1]->setCurrent(true);
             }
         }
 
-        waypointsEditable.remove(seq);
+        waypointsEditable.removeAt(seq);
         delete t;
         t = NULL;
 
-        for(int i = seq; i < waypointsEditable.size(); i++)
+        for(int i = seq; i < waypointsEditable.count(); i++)
         {
             waypointsEditable[i]->setId(i);
         }
@@ -440,7 +453,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
 
 void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
 {
-    if (cur_seq != new_seq && cur_seq < waypointsEditable.size() && new_seq < waypointsEditable.size())
+    if (cur_seq != new_seq && cur_seq < waypointsEditable.count() && new_seq < waypointsEditable.count())
     {
         Waypoint *t = waypointsEditable[cur_seq];
         if (cur_seq < new_seq) {
@@ -477,7 +490,7 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile)
     //write the waypoint list version to the first line for compatibility check
     out << "QGC WPL 120\r\n";
 
-    for (int i = 0; i < waypointsEditable.size(); i++)
+    for (int i = 0; i < waypointsEditable.count(); i++)
     {
         waypointsEditable[i]->setId(i);
         waypointsEditable[i]->save(out);
@@ -491,9 +504,9 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
         return;
 
-    while(waypointsEditable.size()>0) {
+    while(waypointsEditable.count()>0) {
         Waypoint *t = waypointsEditable[0];
-        waypointsEditable.remove(0);
+        waypointsEditable.removeAt(0);
         delete t;
     }
 
@@ -512,8 +525,8 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
             Waypoint *t = new Waypoint();
             if(t->load(in))
             {
-                t->setId(waypointsEditable.size());
-                waypointsEditable.insert(waypointsEditable.size(), t);
+                t->setId(waypointsEditable.count());
+                waypointsEditable.insert(waypointsEditable.count(), t);
             }
             else
             {
@@ -532,7 +545,7 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
 
 void UASWaypointManager::clearWaypointList()
 {
-    if(current_state == WP_IDLE)
+    if (current_state == WP_IDLE)
     {
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
@@ -546,12 +559,12 @@ void UASWaypointManager::clearWaypointList()
     }
 }
 
-const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
+const QList<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
 {
     // TODO Keep this global frame list up to date
     // with complete waypoint list
     // instead of filtering on each request
-    QVector<Waypoint*> wps;
+    QList<Waypoint*> wps;
     foreach (Waypoint* wp, waypointsEditable)
     {
         if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
@@ -562,12 +575,12 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
     return wps;
 }
 
-const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointList()
+const QList<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointList()
 {
     // TODO Keep this global frame list up to date
     // with complete waypoint list
     // instead of filtering on each request
-    QVector<Waypoint*> wps;
+    QList<Waypoint*> wps;
     foreach (Waypoint* wp, waypointsEditable)
     {
         if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
@@ -578,12 +591,12 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointLi
     return wps;
 }
 
-const QVector<Waypoint *> UASWaypointManager::getNavTypeWaypointList()
+const QList<Waypoint *> UASWaypointManager::getNavTypeWaypointList()
 {
     // TODO Keep this global frame list up to date
     // with complete waypoint list
     // instead of filtering on each request
-    QVector<Waypoint*> wps;
+    QList<Waypoint*> wps;
     foreach (Waypoint* wp, waypointsEditable)
     {
         if (wp->isNavigationType())
@@ -772,14 +785,14 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
         //Clear the old view-list before receiving the new one
         while(waypointsViewOnly.size()>0) {
             Waypoint *t = waypointsViewOnly[0];
-            waypointsViewOnly.remove(0);
+            waypointsViewOnly.removeAt(0);
             delete t;
         }
         emit waypointViewOnlyListChanged();
         /* THIS PART WAS MOVED TO handleWaypointCount. THE EDIT-LIST SHOULD NOT BE CLEARED UNLESS THERE IS A RESPONSE FROM UAV.
         //Clear the old edit-list before receiving the new one
         if (read_to_edit == true){
-            while(waypointsEditable.size()>0) {
+            while(waypointsEditable.count()>0) {
                 Waypoint *t = waypointsEditable[0];
                 waypointsEditable.remove(0);
                 delete t;
@@ -1023,3 +1036,39 @@ void UASWaypointManager::sendWaypointAck(quint8 type)
     uas->sendMessage(message);
     QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
 }
+
+UAS* UASWaypointManager::getUAS() {
+    return this->uas;    ///< Returns the owning UAS
+}
+
+float UASWaypointManager::getAltitudeRecommendation()
+{
+    if (waypointsEditable.count() > 0) {
+        return waypointsEditable.last()->getAltitude();
+    } else {
+        return UASManager::instance()->getHomeAltitude() + getHomeAltitudeOffsetDefault();
+    }
+}
+
+int UASWaypointManager::getFrameRecommendation()
+{
+    if (waypointsEditable.count() > 0) {
+        return static_cast<int>(waypointsEditable.last()->getFrame());
+    } else {
+        return MAV_FRAME_GLOBAL;
+    }
+}
+
+float UASWaypointManager::getAcceptanceRadiusRecommendation()
+{
+    if (waypointsEditable.count() > 0) {
+        return waypointsEditable.last()->getAcceptanceRadius();
+    } else {
+        return 10.0f;
+    }
+}
+
+float UASWaypointManager::getHomeAltitudeOffsetDefault()
+{
+    return defaultAltitudeHomeOffset;
+}

src/uas/UASWaypointManager.h

@@ -33,7 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #define UASWAYPOINTMANAGER_H
 
 #include <QObject>
-#include <QVector>
+#include <QList>
 #include <QTimer>
 #include "Waypoint.h"
 #include "QGCMAVLink.h"
@@ -44,7 +44,7 @@ class UASInterface;
  * @brief Implementation of the MAVLINK waypoint protocol
  *
  * This class handles the communication with a waypoint manager on the MAV.
- * All waypoints are stored in the QVector waypoints, modifications can be done with the WaypointList widget.
+ * All waypoints are stored in the QList waypoints, modifications can be done with the WaypointList widget.
  * Notice that currently the access to the internal waypoint storage is not guarded nor thread-safe. This works as long as no other widget alters the data.
  *
  * See http://qgroundcontrol.org/waypoint_protocol for more information about the protocol and the states.
@@ -91,15 +91,15 @@ public:
 
     /** @name Waypoint list operations */
     /*@{*/
-    const QVector<Waypoint *> &getWaypointEditableList(void) {
+    const QList<Waypoint *> &getWaypointEditableList(void) {
         return waypointsEditable;    ///< Returns a const reference to the waypoint list.
     }
-    const QVector<Waypoint *> &getWaypointViewOnlyList(void) {
+    const QList<Waypoint *> &getWaypointViewOnlyList(void) {
         return waypointsViewOnly;    ///< Returns a const reference to the waypoint list.
     }
-    const QVector<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
-    const QVector<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
-    const QVector<Waypoint *> getNavTypeWaypointList(); ///< Returns a waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
+    const QList<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
+    const QList<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
+    const QList<Waypoint *> getNavTypeWaypointList(); ///< Returns a waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
     int getIndexOf(Waypoint* wp);                   ///< Get the index of a waypoint in the list
     int getGlobalFrameIndexOf(Waypoint* wp);    ///< Get the index of a waypoint in the list, counting only global waypoints
     int getGlobalFrameAndNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only global AND navigation mode waypoints
@@ -112,9 +112,11 @@ public:
     int getLocalFrameCount();   ///< Get the count of local waypoints in the list
     /*@}*/
 
-    UAS* getUAS() {
-        return this->uas;    ///< Returns the owning UAS
-    }
+    UAS* getUAS();
+    float getAltitudeRecommendation();
+    int getFrameRecommendation();
+    float getAcceptanceRadiusRecommendation();
+    float getHomeAltitudeOffsetDefault();
 
 private:
     /** @name Message send functions */
@@ -169,13 +171,16 @@ private:
     quint8 current_partner_compid;                  ///< The current protocol communication target component
     bool read_to_edit;                              ///< If true, after readWaypoints() incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab.
 
-    QVector<Waypoint *> waypointsViewOnly;                  ///< local copy of current waypoint list on MAV
-    QVector<Waypoint *> waypointsEditable;                  ///< local editable waypoint list
+    QList<Waypoint *> waypointsViewOnly;                  ///< local copy of current waypoint list on MAV
+    QList<Waypoint *> waypointsEditable;                  ///< local editable waypoint list
     Waypoint* currentWaypointEditable;                      ///< The currently used waypoint
-    QVector<mavlink_mission_item_t *> waypoint_buffer;  ///< buffer for waypoints during communication
+    QList<mavlink_mission_item_t *> waypoint_buffer;  ///< buffer for waypoints during communication
     QTimer protocol_timer;                          ///< Timer to catch timeouts
     bool standalone;                                ///< If standalone is set, do not write to UAS
     quint16 uasid;
+
+    // XXX export to settings
+    static const float defaultAltitudeHomeOffset   = 30.0f;    ///< Altitude offset in meters from home for new waypoints
 };
 
 #endif // UASWAYPOINTMANAGER_H

src/ui/HSIDisplay.cc

@@ -854,6 +854,9 @@ void HSIDisplay::setMetricWidth(double width)
  */
 void HSIDisplay::setActiveUAS(UASInterface* uas)
 {
+    if (!uas)
+        return;
+
     if (this->uas != NULL) {
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
@@ -1231,7 +1234,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
     if (uas)
     {
         // Grab all waypoints.
-        const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointEditableList();
+        const QList<Waypoint*>& list = uas->getWaypointManager()->getWaypointEditableList();
         const int numWaypoints = list.size();
 
         // Do not work on empty lists

src/ui/MainWindow.cc

@@ -158,7 +158,7 @@ MainWindow::MainWindow(QWidget *parent):
     hide();
 
     // We only need this menu if we have more than one system
-//    ui.menuConnected_Systems->setEnabled(false);
+    //    ui.menuConnected_Systems->setEnabled(false);
 
     // Set dock options
     setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
@@ -295,11 +295,11 @@ MainWindow::~MainWindow()
         delete mavlink;
         mavlink = NULL;
     }
-//    if (simulationLink)
-//    {
-//        simulationLink->deleteLater();
-//        simulationLink = NULL;
-//    }
+    //    if (simulationLink)
+    //    {
+    //        simulationLink->deleteLater();
+    //        simulationLink = NULL;
+    //    }
     if (joystick)
     {
         joystick->shutdown();
@@ -356,7 +356,7 @@ QString MainWindow::getWindowStateKey()
     }
     else
 
-    return QString::number(currentView)+"_windowstate";
+        return QString::number(currentView)+"_windowstate";
 }
 
 QString MainWindow::getWindowGeometryKey()
@@ -410,7 +410,7 @@ void MainWindow::buildCustomWidget()
             switch (view)
             {
             case VIEW_ENGINEER:
-                dock = createDockWidget(dataView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
                 break;
             case VIEW_FLIGHT:
                 dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
@@ -421,6 +421,9 @@ void MainWindow::buildCustomWidget()
             case VIEW_MISSION:
                 dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
                 break;
+            case VIEW_MAVLINK:
+                dock = createDockWidget(mavlinkView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
             default:
                 dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
                 break;
@@ -480,15 +483,15 @@ void MainWindow::buildCommonWidgets()
     {
         engineeringView = new SubMainWindow(this);
         engineeringView->setObjectName("VIEW_ENGINEER");
-        engineeringView->setCentralWidget(new XMLCommProtocolWidget(this));
-        addCentralWidget(engineeringView,"Mavlink Generator");
+        engineeringView->setCentralWidget(new QGCDataPlot2D(this));
+        addCentralWidget(engineeringView,tr("Logfile Plot"));
     }
-    if (!dataView)
+    if (!mavlinkView)
     {
-        dataView = new SubMainWindow(this);
-        dataView->setObjectName("VIEW_DATA");
-        dataView->setCentralWidget(new QGCDataPlot2D(this));
-        addCentralWidget(dataView,tr("Logfile Plot"));
+        mavlinkView = new SubMainWindow(this);
+        mavlinkView->setObjectName("VIEW_MAVLINK");
+        mavlinkView->setCentralWidget(new XMLCommProtocolWidget(this));
+        addCentralWidget(mavlinkView,tr("Mavlink Generator"));
     }
     if (!simView)
     {
@@ -503,38 +506,38 @@ void MainWindow::buildCommonWidgets()
     tempAction->setCheckable(true);
     connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
 
-        createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
+    createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
 
-        createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
+    createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
 
-        {
+    {
         //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
         QAction* tempAction = ui.menuTools->addAction(tr("Mission Plan"));
         tempAction->setCheckable(true);
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
         menuToDockNameMap[tempAction] = "WAYPOINT_LIST_DOCKWIDGET";
-        }
+    }
 
-        createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
-        createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
+    createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
+    createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
 
-        createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
-        createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
+    createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
+    createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
 
 
-        {
+    {
         QAction* tempAction = ui.menuTools->addAction(tr("Status Details"));
         menuToDockNameMap[tempAction] = "UAS_STATUS_DETAILS_DOCKWIDGET";
         tempAction->setCheckable(true);
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        }
-        {
+    }
+    {
         QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
         menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
         tempAction->setCheckable(true);
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        }
-        createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
+    }
+    createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
 
 
 
@@ -558,23 +561,23 @@ void MainWindow::buildCommonWidgets()
     //createDockWidget(pilotView,hdDisplay2,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
 
     {
-    QAction* tempAction = ui.menuTools->addAction(tr("Flight Display"));
-    tempAction->setCheckable(true);
-    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-    menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
+        QAction* tempAction = ui.menuTools->addAction(tr("Flight Display"));
+        tempAction->setCheckable(true);
+        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
     }
 
     {
-    QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status"));
-    tempAction->setCheckable(true);
-    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-    menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
+        QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status"));
+        tempAction->setCheckable(true);
+        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
     }
 
     {
-    QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
-    tempAction->setCheckable(true);
-    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+        QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
+        tempAction->setCheckable(true);
+        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
 
 
@@ -600,11 +603,11 @@ void MainWindow::buildCommonWidgets()
     }*/
 
 
-//    if (!firmwareUpdateWidget)
-//    {
-//        firmwareUpdateWidget    = new QGCFirmwareUpdate(this);
-//        addCentralWidget(firmwareUpdateWidget, "Firmware Update");
-//    }
+    //    if (!firmwareUpdateWidget)
+    //    {
+    //        firmwareUpdateWidget    = new QGCFirmwareUpdate(this);
+    //        addCentralWidget(firmwareUpdateWidget, "Firmware Update");
+    //    }
 
     /*if (!hudWidget)
     {
@@ -690,7 +693,7 @@ QDockWidget* MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString
 {
     //if (child->objectName() == "")
     //{
-        child->setObjectName(objectname);
+    child->setObjectName(objectname);
     //}
     QDockWidget *widget = new QDockWidget(title,this);
     if (!isAdvancedMode)
@@ -862,16 +865,16 @@ void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
     {
         centerStack->addWidget(widget);
 
-//        QAction* tempAction = ui.menuMain->addAction(title);
+        //        QAction* tempAction = ui.menuMain->addAction(title);
 
-//        tempAction->setCheckable(true);
-//        QVariant var;
-//        var.setValue((QWidget*)widget);
-//        tempAction->setData(var);
-//        centerStackActionGroup->addAction(tempAction);
-//        connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
+        //        tempAction->setCheckable(true);
+        //        QVariant var;
+        //        var.setValue((QWidget*)widget);
+        //        tempAction->setData(var);
+        //        centerStackActionGroup->addAction(tempAction);
+        //        connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
         //connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
-//        tempAction->setChecked(widget->isVisible());
+        //        tempAction->setChecked(widget->isVisible());
     }
 }
 
@@ -891,17 +894,14 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
     if (mav && !hilDocks.contains(mav->getUASID()))
     {
         QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
-        QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
-        QDockWidget* hilDock = new QDockWidget(hilDockName, this);
-        hilDock->setWidget(hconf);
-        hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
-        //addTool(hilDock, hilDockName, Qt::LeftDockWidgetArea);
+        QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
+        QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
         hilDocks.insert(mav->getUASID(), hilDock);
 
-        if (currentView != VIEW_SIMULATION)
-            hilDock->hide();
-        else
-            hilDock->show();
+        //        if (currentView != VIEW_SIMULATION)
+        //            hilDock->hide();
+        //        else
+        //            hilDock->show();
     }
 }
 
@@ -975,7 +975,7 @@ void MainWindow::loadCustomWidget(const QString& fileName, int view)
         switch ((VIEW_SECTIONS)view)
         {
         case VIEW_ENGINEER:
-            createDockWidget(dataView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         case VIEW_FLIGHT:
             createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
@@ -987,16 +987,16 @@ void MainWindow::loadCustomWidget(const QString& fileName, int view)
             createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         default:
-            {
-                //Delete tool, create menu item to tie it to.
-                customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
-                QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
-                menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
-                tempAction->setCheckable(true);
-                connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-                tool->deleteLater();
-                //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            }
+        {
+            //Delete tool, create menu item to tie it to.
+            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
+            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
+            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
+            tempAction->setCheckable(true);
+            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+            tool->deleteLater();
+            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+        }
             break;
         }
     }
@@ -1020,7 +1020,7 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
         switch (view)
         {
         case VIEW_ENGINEER:
-            createDockWidget(dataView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         case VIEW_FLIGHT:
             createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
@@ -1032,16 +1032,16 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
             createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         default:
-            {
-                //Delete tool, create menu item to tie it to.
-                customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
-                QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
-                menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
-                tempAction->setCheckable(true);
-                connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-                tool->deleteLater();
-                //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            }
+        {
+            //Delete tool, create menu item to tie it to.
+            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
+            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
+            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
+            tempAction->setCheckable(true);
+            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+            tool->deleteLater();
+            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+        }
             break;
         }
 
@@ -1575,8 +1575,8 @@ void MainWindow::setActiveUAS(UASInterface* uas)
 {
     Q_UNUSED(uas);
     // Enable and rename menu
-//    ui.menuUnmanned_System->setTitle(uas->getUASName());
-//    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
+    //    ui.menuUnmanned_System->setTitle(uas->getUASName());
+    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
     if (settings.contains(getWindowStateKey()))
     {
         SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
@@ -1593,14 +1593,14 @@ void MainWindow::UASSpecsChanged(int uas)
     {
         if (activeUAS->getUASID() == uas)
         {
-//            ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
+            //            ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
         }
     }
     else
     {
         // Last system deleted
-//        ui.menuUnmanned_System->setTitle(tr("No System"));
-//        ui.menuUnmanned_System->setEnabled(false);
+        //        ui.menuUnmanned_System->setTitle(tr("No System"));
+        //        ui.menuUnmanned_System->setEnabled(false);
     }
 }
 
@@ -1609,12 +1609,12 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     // Check if this is the 2nd system and we need a switch menu
     if (UASManager::instance()->getUASList().count() > 1)
-//        ui.menuConnected_Systems->setEnabled(true);
+        //        ui.menuConnected_Systems->setEnabled(true);
 
-    // Connect the UAS to the full user interface
+        // Connect the UAS to the full user interface
 
-    //if (uas != NULL)
-    //{
+        //if (uas != NULL)
+        //{
         // The pilot, operator and engineer views were not available on startup, enable them now
         ui.actionFlightView->setEnabled(true);
         ui.actionMissionView->setEnabled(true);
@@ -1689,69 +1689,69 @@ void MainWindow::UASCreated(UASInterface* uas)
             break;
         }
 
-        // XXX The multi-UAS selection menu has been disabled for now,
-        // its redundant with right-clicking the UAS in the list.
-        // this code piece might be removed later if this is the final
-        // conclusion (May 2013)
-//        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
-//        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
-//        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-//        ui.menuConnected_Systems->addAction(uasAction);
+    // XXX The multi-UAS selection menu has been disabled for now,
+    // its redundant with right-clicking the UAS in the list.
+    // this code piece might be removed later if this is the final
+    // conclusion (May 2013)
+    //        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
+    //        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
+    //        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
+    //        ui.menuConnected_Systems->addAction(uasAction);
 
 
-        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
+    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
 
-        // HIL
-        showHILConfigurationWidget(uas);
+    // HIL
+    showHILConfigurationWidget(uas);
 
-        if (!linechartWidget)
-        {
-            linechartWidget = new Linecharts(this);
-            //linechartWidget->hide();
+    if (!linechartWidget)
+    {
+        linechartWidget = new Linecharts(this);
+        //linechartWidget->hide();
 
-        }
+    }
 
-        linechartWidget->addSource(mavlinkDecoder);
-        if (dataView->centralWidget() != linechartWidget)
-        {
-            dataView->setCentralWidget(linechartWidget);
-            linechartWidget->show();
-        }
+    linechartWidget->addSource(mavlinkDecoder);
+    if (engineeringView->centralWidget() != linechartWidget)
+    {
+        engineeringView->setCentralWidget(linechartWidget);
+        linechartWidget->show();
+    }
 
-        // Load default custom widgets for this autopilot type
-        loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
+    // Load default custom widgets for this autopilot type
+    loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
 
 
-        if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
+    if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
+    {
+        // Dock widgets
+        if (!detectionDockWidget)
         {
-            // Dock widgets
-            if (!detectionDockWidget)
-            {
-                detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
-                detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) );
-                detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
-                //addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
-            }
+            detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
+            detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) );
+            detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
+            //addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
+        }
 
-            if (!watchdogControlDockWidget)
-            {
-                watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
-                watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
-                watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
-                //addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
-            }
+        if (!watchdogControlDockWidget)
+        {
+            watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
+            watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
+            watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
+            //addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
         }
+    }
 
-        // Change the view only if this is the first UAS
+    // Change the view only if this is the first UAS
 
-        // If this is the first connected UAS, it is both created as well as
-        // the currently active UAS
-        if (UASManager::instance()->getUASList().size() == 1)
+    // If this is the first connected UAS, it is both created as well as
+    // the currently active UAS
+    if (UASManager::instance()->getUASList().size() == 1)
+    {
+        // Load last view if setting is present
+        if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
         {
-            // Load last view if setting is present
-            if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
-            {
-                /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
+            /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
                 switch (view)
                 {
                 case VIEW_ENGINEER:
@@ -1777,17 +1777,17 @@ void MainWindow::UASCreated(UASInterface* uas)
                     loadOperatorView();
                     break;
                 }*/
-            }
-            else
-            {
-               // loadOperatorView();
-            }
         }
+        else
+        {
+            // loadOperatorView();
+        }
+    }
 
     //}
 
-//    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
-//    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
+    //    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
+    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
 
     // Reload view state in case new widgets were added
     loadViewState();
@@ -1799,18 +1799,18 @@ void MainWindow::UASDeleted(UASInterface* uas)
     if (UASManager::instance()->getUASList().count() == 0)
     {
         // Last system deleted
-//        ui.menuUnmanned_System->setTitle(tr("No System"));
-//        ui.menuUnmanned_System->setEnabled(false);
+        //        ui.menuUnmanned_System->setTitle(tr("No System"));
+        //        ui.menuUnmanned_System->setEnabled(false);
     }
 
-//    QAction* act;
-//    QList<QAction*> actions = ui.menuConnected_Systems->actions();
+    //    QAction* act;
+    //    QList<QAction*> actions = ui.menuConnected_Systems->actions();
 
-//    foreach (act, actions)
-//    {
-//        if (act->text().contains(uas->getUASName()))
-//            ui.menuConnected_Systems->removeAction(act);
-//    }
+    //    foreach (act, actions)
+    //    {
+    //        if (act->text().contains(uas->getUASName()))
+    //            ui.menuConnected_Systems->removeAction(act);
+    //    }
 }
 
 /**
@@ -1846,7 +1846,7 @@ void MainWindow::loadViewState()
     // Restore center stack state
     int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
     // The offline plot view is usually the consequence of a logging run, always show the realtime view first
-    if (centerStack->indexOf(dataView) == index)
+    if (centerStack->indexOf(engineeringView) == index)
     {
         // Rewrite to realtime plot
         //index = centerStack->indexOf(linechartWidget);
@@ -1869,13 +1869,13 @@ void MainWindow::loadViewState()
             centerStack->setCurrentWidget(configView);
             break;
         case VIEW_ENGINEER:
-            centerStack->setCurrentWidget(dataView);
+            centerStack->setCurrentWidget(engineeringView);
             break;
         case VIEW_FLIGHT:
             centerStack->setCurrentWidget(pilotView);
             break;
         case VIEW_MAVLINK:
-            centerStack->setCurrentWidget(engineeringView);
+            centerStack->setCurrentWidget(mavlinkView);
             break;
         case VIEW_FIRMWAREUPDATE:
             centerStack->setCurrentWidget(firmwareUpdateWidget);
@@ -2043,25 +2043,25 @@ void MainWindow::loadFirmwareUpdateView()
     }
 }
 
-void MainWindow::loadDataView(QString fileName)
-{
-    // Plot is now selected, now load data from file
-    if (dataView)
-    {
-        //dataView->setCentralWidget(new QGCDataPlot2D(this));
-        QGCDataPlot2D *plot = qobject_cast<QGCDataPlot2D*>(dataView->centralWidget());
-        if (plot)
-        {
-            plot->loadFile(fileName);
-        }
-    }
-    /*QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
-    if (centerStack)
-    {
-        centerStack->setCurrentWidget(dataView);
-        dataplotWidget->loadFile(fileName);
-    }*/
-}
+//void MainWindow::loadDataView(QString fileName)
+//{
+//    // Plot is now selected, now load data from file
+//    if (dataView)
+//    {
+//        //dataView->setCentralWidget(new QGCDataPlot2D(this));
+//        QGCDataPlot2D *plot = qobject_cast<QGCDataPlot2D*>(dataView->centralWidget());
+//        if (plot)
+//        {
+//            plot->loadFile(fileName);
+//        }
+//    }
+//    /*QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+//    if (centerStack)
+//    {
+//        centerStack->setCurrentWidget(dataView);
+//        dataplotWidget->loadFile(fileName);
+//    }*/
+//}
 
 
 QList<QAction*> MainWindow::listLinkMenuActions(void)

src/ui/MainWindow.h

@@ -233,7 +233,7 @@ public slots:
     void closeEvent(QCloseEvent* event);
 
     /** @brief Load data view, allowing to plot flight data */
-    void loadDataView(QString fileName);
+//    void loadDataView(QString fileName);
 
     /**
      * @brief Shows a Docked Widget based on the action sender
@@ -354,7 +354,7 @@ protected:
     QPointer<SubMainWindow> plannerView;
     QPointer<SubMainWindow> pilotView;
     QPointer<SubMainWindow> configView;
-    QPointer<SubMainWindow> dataView;
+    QPointer<SubMainWindow> mavlinkView;
     QPointer<SubMainWindow> engineeringView;
     QPointer<SubMainWindow> simView;
 

src/ui/QGCHilConfiguration.cc

@@ -22,9 +22,9 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     int i = settings.value("SIMULATOR_INDEX", -1).toInt();
 
     if (i > 0) {
-        ui->simComboBox->blockSignals(true);
+//        ui->simComboBox->blockSignals(true);
         ui->simComboBox->setCurrentIndex(i);
-        ui->simComboBox->blockSignals(false);
+//        ui->simComboBox->blockSignals(false);
         on_simComboBox_currentIndexChanged(i);
     }
 
@@ -46,6 +46,11 @@ QGCHilConfiguration::~QGCHilConfiguration()
     delete ui;
 }
 
+void QGCHilConfiguration::setVersion(QString version)
+{
+
+}
+
 void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
 {
     //clean up

src/ui/QGCHilConfiguration.h

@@ -21,6 +21,7 @@ public:
 public slots:
     /** @brief Receive status message */
     void receiveStatusMessage(const QString& message);
+    void setVersion(QString version);
 
 protected:
     UAS* mav;

src/ui/QGCHilXPlaneConfiguration.cc

@@ -32,6 +32,8 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
         ui->sensorHilCheckBox->setChecked(link->sensorHilEnabled());
         connect(link, SIGNAL(sensorHilChanged(bool)), ui->sensorHilCheckBox, SLOT(setChecked(bool)));
         connect(ui->sensorHilCheckBox, SIGNAL(clicked(bool)), link, SLOT(enableSensorHIL(bool)));
+
+        connect(link, SIGNAL(versionChanged(int)), this, SLOT(setVersion(int)));
     }
 
     ui->hostComboBox->clear();
@@ -40,6 +42,11 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
 
 }
 
+void QGCHilXPlaneConfiguration::setVersion(int version)
+{
+
+}
+
 void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
 {
     Q_UNUSED(connect);

src/ui/QGCHilXPlaneConfiguration.h

@@ -20,6 +20,8 @@ public:
 public slots:
     /** @brief Start / stop simulation */
     void toggleSimulation(bool connect);
+    /** @brief Set X-Plane version */
+    void setVersion(int version);
 
 protected:
     QGCHilLink* link;

src/ui/QGCHilXPlaneConfiguration.ui

@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>295</width>
-    <height>148</height>
+    <width>570</width>
+    <height>238</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,100" columnstretch="40,10,10,40">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,100" columnstretch="20,40,40,20">
    <property name="margin">
     <number>0</number>
    </property>

src/ui/QGCMAVLinkLogPlayer.cc

@@ -3,6 +3,7 @@
 #include <QDesktopServices>
 
 #include "MainWindow.h"
+#include "SerialLink.h"
 #include "QGCMAVLinkLogPlayer.h"
 #include "QGC.h"
 #include "ui_QGCMAVLinkLogPlayer.h"
@@ -361,6 +362,22 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
         // Reset current state
         reset(0);
 
+        // Check if a serial link is connected
+
+        bool linkWarning = false;
+        foreach (LinkInterface* link, LinkManager::instance()->getLinks())
+        {
+            SerialLink* s = dynamic_cast<SerialLink*>(link);
+
+            if (s && s->isConnected())
+                linkWarning = true;
+        }
+
+        if (linkWarning)
+            MainWindow::instance()->showInfoMessage(tr("Active MAVLink links found"), tr("Currently other links are connected. It is recommended to disconnect any active link before replaying a log."));
+
+        play();
+
         return true;
     }
 }

src/ui/QGCToolBar.cc

@@ -46,6 +46,16 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
     // Do not load UI, wait for actions
 }
 
+void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(lat);
+    Q_UNUSED(lon);
+    Q_UNUSED(usec);
+    altitudeMSL = alt;
+    changed = true;
+}
+
 void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms)
 {
     // set timeout label visible
@@ -278,6 +288,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
         disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
+        disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
         if (mav->getWaypointManager())
         {
             disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -295,6 +306,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
     connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
     connect(active, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
+    connect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
     if (active->getWaypointManager())
     {
         connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -311,6 +323,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     toolBarStateLabel->setText(mav->getShortState());
     toolBarTimeoutLabel->setStyleSheet(QString(""));
     toolBarTimeoutLabel->setText("");
+    toolBarDistLabel->setText("");
     setSystemType(mav, mav->getSystemType());
 }
 
@@ -330,7 +343,9 @@ void QGCToolBar::updateArmingState(bool armed)
 void QGCToolBar::updateView()
 {
     if (!changed) return;
-    toolBarDistLabel->setText(tr("%1 m").arg(wpDistance, 6, 'f', 2, '0'));
+    //toolBarDistLabel->setText(tr("%1 m").arg(wpDistance, 6, 'f', 2, '0'));
+    // XXX add also rel altitude
+    toolBarDistLabel->setText(QString("%1 m MSL").arg(altitudeMSL, 6, 'f', 2, '0'));
     toolBarWpLabel->setText(tr("WP%1").arg(wpId));
     toolBarBatteryBar->setValue(batteryPercent);
     if (batteryPercent < 30 && toolBarBatteryBar->value() >= 30) {

src/ui/QGCToolBar.h

@@ -74,6 +74,8 @@ public slots:
     void updateView();
     /** @brief Update connection timeout time */
     void heartbeatTimeout(bool timeout, unsigned int ms);
+    /** @brief Update global position */
+    void globalPositionChanged(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     /** @brief Create or connect link */
     void connectLink(bool connect);
     /** @brief Clear status string */
@@ -106,6 +108,8 @@ protected:
     float batteryVoltage;
     int wpId;
     double wpDistance;
+    float altitudeMSL;
+    float altitudeRel;
     QString state;
     QString mode;
     QString systemName;

src/ui/QGCVehicleConfig.cc

@@ -39,6 +39,7 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     systemTypeToParamMap["FIXED_WING"] = new QMap<QString,QGCToolWidget*>();
     systemTypeToParamMap["QUADROTOR"] = new QMap<QString,QGCToolWidget*>();
     systemTypeToParamMap["GROUND_ROVER"] = new QMap<QString,QGCToolWidget*>();
+    systemTypeToParamMap["BOAT"] = new QMap<QString,QGCToolWidget*>();
     libParamToWidgetMap = new QMap<QString,QGCToolWidget*>();
 
     setObjectName("QGC_VEHICLECONFIG");
@@ -726,6 +727,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     {
         //Indication that we have no meta data for this system type.
         qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
+        systemTypeToParamMap[mav->getSystemTypeName()] = new QMap<QString,QGCToolWidget*>();
+        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
     }
 
     if (!paramTooltips.isEmpty())

src/ui/QGCWaypointListMulti.cc

@@ -12,7 +12,7 @@ QGCWaypointListMulti::QGCWaypointListMulti(QWidget *parent) :
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(systemCreated(UASInterface*)));
     connect(UASManager::instance(), SIGNAL(activeUASSet(int)), this, SLOT(systemSetActive(int)));
 
-    WaypointList* list = new WaypointList(ui->stackedWidget, NULL);
+    WaypointList* list = new WaypointList(ui->stackedWidget, UASManager::instance()->getActiveUASWaypointManager());
     lists.insert(offline_uas_id, list);
     ui->stackedWidget->addWidget(list);
 
@@ -40,7 +40,7 @@ void QGCWaypointListMulti::systemDeleted(QObject* uas)
 
 void QGCWaypointListMulti::systemCreated(UASInterface* uas)
 {
-    WaypointList* list = new WaypointList(ui->stackedWidget, uas);
+    WaypointList* list = new WaypointList(ui->stackedWidget, uas->getWaypointManager());
     lists.insert(uas->getUASID(), list);
     ui->stackedWidget->addWidget(list);
     // Ensure widget is deleted when system is deleted

src/ui/SerialConfigurationWindow.cc

@@ -218,6 +218,9 @@ void SerialConfigurationWindow::setupPortList()
     // Get the ports available on this system
     QVector<QString>* ports = link->getCurrentPorts();
 
+    QString storedName = this->link->getPortName();
+    bool storedFound = false;
+
     // Add the ports in reverse order, because we prepend them to the list
     for (int i = ports->size() - 1; i >= 0; --i)
     {
@@ -227,9 +230,14 @@ void SerialConfigurationWindow::setupPortList()
             ui.portName->insertItem(0, ports->at(i));
             if (!userConfigured) ui.portName->setEditText(ports->at(i));
         }
+
+        // Check if the stored link name is still present
+        if (ports->at(i).contains(storedName) || storedName.contains(ports->at(i)))
+            storedFound = true;
     }
 
-    ui.portName->setEditText(this->link->getPortName());
+    if (storedFound)
+        ui.portName->setEditText(storedName);
 }
 
 void SerialConfigurationWindow::enableFlowControl(bool flow)

src/ui/WaypointList.cc

@@ -34,15 +34,17 @@ This file is part of the PIXHAWK project
 #include "WaypointList.h"
 #include "ui_WaypointList.h"
 #include <UASInterface.h>
+#include <UAS.h>
 #include <UASManager.h>
 #include <QDebug>
 #include <QFileDialog>
 #include <QMessageBox>
 #include <QMouseEvent>
 
-WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
+WaypointList::WaypointList(QWidget *parent, UASWaypointManager* wpm) :
     QWidget(parent),
     uas(NULL),
+    WPM(wpm),
     mavX(0.0),
     mavY(0.0),
     mavZ(0.0),
@@ -96,28 +98,32 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 
     connect(m_ui->refreshButton, SIGNAL(clicked()), this, SLOT(refresh()));
 
+    if (WPM) {
+        // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
+        if (!WPM->getUAS())
+        {
+            // Hide buttons, which don't make sense without valid UAS
+            m_ui->positionAddButton->hide();
+            m_ui->transmitButton->hide();
+            m_ui->readButton->hide();
+            m_ui->refreshButton->hide();
+            //FIXME: The whole "Onboard Waypoints"-tab should be hidden, instead of "refresh" button
+            UnconnectedUASInfoWidget* inf = new UnconnectedUASInfoWidget(this);
+            viewOnlyListLayout->insertWidget(0, inf); //insert a "NO UAV" info into the Onboard Tab
+            showOfflineWarning = true;
+        } else {
+            setUAS(static_cast<UASInterface*>(WPM->getUAS()));
+        }
 
-    // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
-    if (uas)
-    {
-        WPM = uas->getWaypointManager();
-    }
-    else
-    {
-        // Hide buttons, which don't make sense without valid UAS
-        m_ui->positionAddButton->hide();
-        m_ui->transmitButton->hide();
-        m_ui->readButton->hide();
-        m_ui->refreshButton->hide();
-        //FIXME: The whole "Onboard Waypoints"-tab should be hidden, instead of "refresh" button       
-        UnconnectedUASInfoWidget* inf = new UnconnectedUASInfoWidget(this);
-        viewOnlyListLayout->insertWidget(0, inf); //insert a "NO UAV" info into the Onboard Tab
-        showOfflineWarning = true;
-        WPM = new UASWaypointManager(NULL);
+        /* connect slots */
+        connect(WPM, SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
+        connect(WPM, SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));
+        connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
+        connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
+        connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
+        connect(WPM, SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointViewOnlyChanged(quint16)));
     }
 
-    setUAS(uas);
-
     // STATUS LABEL
     updateStatusLabel("");
 
@@ -154,28 +160,38 @@ void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch,
 
 void WaypointList::setUAS(UASInterface* uas)
 {
-    if (this->uas == NULL && uas != NULL)
-    {
-        WPM = uas->getWaypointManager();
-    }
-    if (this->uas == NULL)
+    if (!uas)
+        return;
+
+    if (this->uas != NULL)
     {
-        this->uas = uas;
-        connect(WPM, SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
-        connect(WPM, SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));
-        connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
-        connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
-        connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
-        connect(WPM, SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointViewOnlyChanged(quint16)));
-        if (uas != NULL)
-        {
-            connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
-            connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
-        }
-        //connect(WPM,SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
-        //connect(WPM,SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
+        // Clear current list
+        on_clearWPListButton_clicked();
+        // Disconnect everything
+        disconnect(WPM, SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
+        disconnect(WPM, SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));
+        disconnect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
+        disconnect(WPM, SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
+        disconnect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
+        disconnect(WPM, SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointViewOnlyChanged(quint16)));
+        disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
     }
 
+    WPM = uas->getWaypointManager();
+
+    this->uas = uas;
+    connect(WPM, SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
+    connect(WPM, SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));
+    connect(WPM, SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
+    connect(WPM, SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
+    connect(WPM, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
+    connect(WPM, SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointViewOnlyChanged(quint16)));
+    connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+    //connect(WPM,SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
+    //connect(WPM,SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
+
     // Update list
     read();
 }
@@ -183,25 +199,13 @@ void WaypointList::setUAS(UASInterface* uas)
 void WaypointList::saveWaypoints()
 {
 
-        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
-        WPM->saveWaypoints(fileName);
+    QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
+    WPM->saveWaypoints(fileName);
 
 }
 
 void WaypointList::loadWaypoints()
 {
-    //create a popup notifying the user about the limitations of offline editing
-    if (showOfflineWarning == true)
-    {
-        QMessageBox msgBox;
-        msgBox.setIcon(QMessageBox::Warning);
-        msgBox.setText("Offline editor!");
-        msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        msgBox.exec();
-        showOfflineWarning = false;
-    }
     QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
     WPM->loadWaypoints(fileName);
 }
@@ -232,115 +236,110 @@ void WaypointList::refresh()
 
 void WaypointList::addEditable()
 {
+    addEditable(false);
+}
+
+void WaypointList::addEditable(bool onCurrentPosition)
+{
 
-        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
-        Waypoint *wp;
-        if (waypoints.size() > 0)
+    const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+    Waypoint *wp;
+    if (waypoints.count() > 0 &&
+            !(onCurrentPosition && uas && (uas->localPositionKnown() || uas->globalPositionKnown())))
+    {
+        // Create waypoint with last frame
+        Waypoint *last = waypoints.last();
+        wp = WPM->createWaypoint();
+//        wp->blockSignals(true);
+        MAV_FRAME frame = (MAV_FRAME)last->getFrame();
+        wp->setFrame(frame);
+        if (frame == MAV_FRAME_GLOBAL || frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
-            // Create waypoint with last frame
-            Waypoint *last = waypoints.at(waypoints.size()-1);
-            wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(),
-                              last->getAutoContinue(), false, last->getFrame(), last->getAction());
-            WPM->addWaypointEditable(wp);
+            wp->setLatitude(last->getLatitude());
+            wp->setLongitude(last->getLongitude());
+            wp->setAltitude(last->getAltitude());
+        } else {
+            wp->setX(last->getX());
+            wp->setY(last->getY());
+            wp->setZ(last->getZ());
         }
-        else
-        {            
-            if (uas)
+        wp->setParam1(last->getParam1());
+        wp->setParam1(last->getParam2());
+        wp->setParam1(last->getParam3());
+        wp->setParam1(last->getParam4());
+        wp->setAutocontinue(last->getAutoContinue());
+//        wp->blockSignals(false);
+        wp->setAction(last->getAction());
+//        WPM->addWaypointEditable(wp);
+    }
+    else
+    {
+        if (uas)
+        {
+            // Create first waypoint at current MAV position
+            if (uas->globalPositionKnown())
             {
-                // Create first waypoint at current MAV position
-                if (uas->localPositionKnown() || uas->globalPositionKnown())
-                {
-                	if(addCurrentPositionWaypoint())
-                	{
-                 	   updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
-                 	  wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
-                 	  WPM->addWaypointEditable(wp);
-                	}
-                }
-                else
+                if (onCurrentPosition)
                 {
-                    // MAV connected, but position unknown, add default waypoint
-                   updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
-                   wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
-                   WPM->addWaypointEditable(wp);
+
+                    if (WPM->getFrameRecommendation() == MAV_FRAME_GLOBAL) {
+                        updateStatusLabel(tr("Added default GLOBAL (Abs alt.) waypoint."));
+                    } else {
+                        updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
+                    }
+                    wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    WPM->addWaypointEditable(wp);
+
+                } else {
+
+                    if (WPM->getFrameRecommendation() == MAV_FRAME_GLOBAL) {
+                        updateStatusLabel(tr("Added default GLOBAL (Abs alt.) waypoint."));
+                    } else {
+                        updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
+                    }
+                    wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
+                                      UASManager::instance()->getHomeLongitude(),
+                                      WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    WPM->addWaypointEditable(wp);
                 }
             }
-            else
+            else if (uas->localPositionKnown())
             {
-                //Since no UAV available, create first default waypoint.
-                 updateStatusLabel(tr("No UAV connected. Adding default LOCAL (NED) waypoint"));
-                wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
-                WPM->addWaypointEditable(wp);
-                //create a popup notifying the user about the limitations of offline editing
-                if (showOfflineWarning == true)
+                if (onCurrentPosition)
                 {
-                    QMessageBox msgBox;
-                    msgBox.setIcon(QMessageBox::Warning);
-                    msgBox.setText("Offline editor!");
-                    msgBox.setInformativeText("You are using the offline mission editor. Please don't forget to save your mission plan before connecting the UAV, otherwise it will be lost.");
-                    msgBox.setStandardButtons(QMessageBox::Ok);
-                    msgBox.setDefaultButton(QMessageBox::Ok);
-                    msgBox.exec();
-                    showOfflineWarning = false;
+                    updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
+                    wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                    WPM->addWaypointEditable(wp);
+                } else {
+                    updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
+                    wp = new Waypoint(0, 0, 0, -0.50, 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                    WPM->addWaypointEditable(wp);
                 }
             }
-        }
-
-}
-
-
-int WaypointList::addCurrentPositionWaypoint()
-{    
-    if (uas)
-    {
-        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
-        Waypoint *wp;
-        Waypoint *last = 0;
-        if (waypoints.size() > 0)
-        {
-            last = waypoints.at(waypoints.size()-1);
-        }
-
-        if (uas->globalPositionKnown())
-        {
-            float acceptanceRadiusGlobal = 10.0f;
-            float holdTime = 0.0f;
-            float yawGlobal = 0.0f;
-            if (last)
-            {
-                acceptanceRadiusGlobal = last->getAcceptanceRadius();
-                holdTime = last->getHoldTime();
-                yawGlobal = last->getYaw();
-            }
-            // Create global frame waypoint per default
-            wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
-            WPM->addWaypointEditable(wp);
-            updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
-            return 0;
-        }
-        else if (uas->localPositionKnown())
-        {
-            float acceptanceRadiusLocal = 0.2f;
-            float holdTime = 0.5f;
-            if (last)
+            else
             {
-                acceptanceRadiusLocal = last->getAcceptanceRadius();
-                holdTime = last->getHoldTime();
+                // MAV connected, but position unknown, add default waypoint
+                updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
+                wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
+                                  UASManager::instance()->getHomeLongitude(),
+                                  WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                WPM->addWaypointEditable(wp);
             }
-            // Create local frame waypoint as second option
-            wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, false, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
-            WPM->addWaypointEditable(wp);
-            updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
-            return 0;
         }
         else
         {
-            // Do nothing
-            updateStatusLabel(tr("Not adding waypoint, no position of MAV known yet."));
-            return 1;
+            //Since no UAV available, create first default waypoint.
+            updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint"));
+            wp = new Waypoint(0, UASManager::instance()->getHomeLatitude(),
+                              UASManager::instance()->getHomeLongitude(),
+                              WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+            WPM->addWaypointEditable(wp);
         }
     }
-    return 1;
+}
+
+void WaypointList::addCurrentPositionWaypoint() {
+    addEditable(true);
 }
 
 void WaypointList::updateStatusLabel(const QString &string)
@@ -364,11 +363,11 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
 void WaypointList::currentWaypointEditableChanged(quint16 seq)
 {
         WPM->setCurrentEditable(seq);
-        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+        const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
 
-        if (seq < waypoints.size())
+        if (seq < waypoints.count())
         {
-            for(int i = 0; i < waypoints.size(); i++)
+            for(int i = 0; i < waypoints.count(); i++)
             {
                 WaypointEditableView* widget = wpEditableViews.find(waypoints[i]).value();
 
@@ -387,11 +386,11 @@ void WaypointList::currentWaypointEditableChanged(quint16 seq)
 // Update waypointViews to correctly indicate the new current waypoint
 void WaypointList::currentWaypointViewOnlyChanged(quint16 seq)
 {
-    const QVector<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
+    const QList<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
 
-    if (seq < waypoints.size())
+    if (seq < waypoints.count())
     {
-        for(int i = 0; i < waypoints.size(); i++)
+        for(int i = 0; i < waypoints.count(); i++)
         {
             WaypointViewOnlyView* widget = wpViewOnlyViews.find(waypoints[i]).value();
 
@@ -425,7 +424,7 @@ void WaypointList::waypointViewOnlyListChanged()
 {
     // Prevent updates to prevent visual flicker
     this->setUpdatesEnabled(false);
-    const QVector<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
+    const QList<Waypoint *> &waypoints = WPM->getWaypointViewOnlyList();
 
     if (!wpViewOnlyViews.empty()) {
         QMapIterator<Waypoint*,WaypointViewOnlyView*> viewIt(wpViewOnlyViews);
@@ -434,12 +433,12 @@ void WaypointList::waypointViewOnlyListChanged()
             viewIt.next();
             Waypoint *cur = viewIt.key();
             int i;
-            for (i = 0; i < waypoints.size(); i++) {
+            for (i = 0; i < waypoints.count(); i++) {
                 if (waypoints[i] == cur) {
                     break;
                 }
             }
-            if (i == waypoints.size()) {
+            if (i == waypoints.count()) {
                 WaypointViewOnlyView* widget = wpViewOnlyViews.find(cur).value();
                 widget->hide();
                 viewOnlyListLayout->removeWidget(widget);
@@ -449,7 +448,7 @@ void WaypointList::waypointViewOnlyListChanged()
     }
 
     // then add/update the views for each waypoint in the list
-    for(int i = 0; i < waypoints.size(); i++) {
+    for(int i = 0; i < waypoints.count(); i++) {
         Waypoint *wp = waypoints[i];
         if (!wpViewOnlyViews.contains(wp)) {
             WaypointViewOnlyView* wpview = new WaypointViewOnlyView(wp, this);
@@ -477,7 +476,7 @@ void WaypointList::waypointEditableListChanged()
 {
     // Prevent updates to prevent visual flicker
     this->setUpdatesEnabled(false);
-    const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+    const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
 
     if (!wpEditableViews.empty()) {
         QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpEditableViews);
@@ -486,12 +485,12 @@ void WaypointList::waypointEditableListChanged()
             viewIt.next();
             Waypoint *cur = viewIt.key();
             int i;
-            for (i = 0; i < waypoints.size(); i++) {
+            for (i = 0; i < waypoints.count(); i++) {
                 if (waypoints[i] == cur) {
                     break;
                 }
             }
-            if (i == waypoints.size()) {
+            if (i == waypoints.count()) {
                 WaypointEditableView* widget = wpEditableViews.find(cur).value();
                 widget->hide();
                 editableListLayout->removeWidget(widget);
@@ -501,7 +500,7 @@ void WaypointList::waypointEditableListChanged()
     }
 
     // then add/update the views for each waypoint in the list
-    for(int i = 0; i < waypoints.size(); i++) {
+    for(int i = 0; i < waypoints.count(); i++) {
         Waypoint *wp = waypoints[i];
         if (!wpEditableViews.contains(wp)) {
             WaypointEditableView* wpview = new WaypointEditableView(wp, this);
@@ -531,34 +530,34 @@ void WaypointList::waypointEditableListChanged()
 
 void WaypointList::moveUp(Waypoint* wp)
 {
-    const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+    const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
 
     //get the current position of wp in the local storage
     int i;
-    for (i = 0; i < waypoints.size(); i++) {
+    for (i = 0; i < waypoints.count(); i++) {
         if (waypoints[i] == wp)
             break;
     }
 
     // if wp was found and its not the first entry, move it
-    if (i < waypoints.size() && i > 0) {
+    if (i < waypoints.count() && i > 0) {
         WPM->moveWaypoint(i, i-1);
     }
 }
 
 void WaypointList::moveDown(Waypoint* wp)
 {    
-    const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+    const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
 
     //get the current position of wp in the local storage
     int i;
-    for (i = 0; i < waypoints.size(); i++) {
+    for (i = 0; i < waypoints.count(); i++) {
         if (waypoints[i] == wp)
             break;
     }
 
     // if wp was found and its not the last entry, move it
-    if (i < waypoints.size()-1) {
+    if (i < waypoints.count()-1) {
         WPM->moveWaypoint(i, i+1);
     }
 }
@@ -583,75 +582,27 @@ void WaypointList::changeEvent(QEvent *e)
 
 void WaypointList::on_clearWPListButton_clicked()
 {
-
-
     if (uas) {
         emit clearPathclicked();
-        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
-        while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
+        const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
+        while(!waypoints.isEmpty()) {
             WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
             widget->remove();
         }
-    } else {
-//        if(isGlobalWP)
-//        {
-//           emit clearPathclicked();
-//        }
     }
 }
 
-///** @brief The MapWidget informs that a waypoint global was changed on the map */
-
-//void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
-//{
-//    if (uas)
-//    {
-//        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
-//        if (waypoints.size() > 0)
-//        {
-//            Waypoint *temp = waypoints.at(indexWP);
-
-//            temp->setX(coordinate.x());
-//            temp->setY(coordinate.y());
-
-//            //WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
-//            //widget->updateValues();
-//        }
-//    }
-
-
-//}
-
-///** @brief The MapWidget informs that a waypoint global was changed on the map */
-
-//void WaypointList::waypointGlobalPositionChanged(Waypoint* wp)
-//{
-//    QPointF coordinate;
-//    coordinate.setX(wp->getX());
-//    coordinate.setY(wp->getY());
-
-//   emit ChangeWaypointGlobalPosition(wp->getId(), coordinate);
+void WaypointList::clearWPWidget()
+{    
+        // Get list
+        const QList<Waypoint *> &waypoints = WPM->getWaypointEditableList();
 
 
-//}
+        // XXX delete wps as well
 
-void WaypointList::clearWPWidget()
-{    
-        const QVector<Waypoint *> &waypoints = WPM->getWaypointEditableList();
-        while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
+        // Clear UI elements
+        while(!waypoints.isEmpty()) {
             WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
             widget->remove();
-        }    
+        }
 }
-
-//void WaypointList::setIsLoadFileWP()
-//{
-//    loadFileGlobalWP = true;
-//}
-
-//void WaypointList::setIsReadGlobalWP(bool value)
-//{
-//    // FIXME James Check this
-//    Q_UNUSED(value);
-//    // readGlobalWP = value;
-//}

src/ui/WaypointList.h

@@ -56,7 +56,7 @@ class WaypointList : public QWidget
     Q_OBJECT
     Q_DISABLE_COPY(WaypointList)
 public:
-    WaypointList(QWidget* parent = NULL, UASInterface* uas = NULL);
+    WaypointList(QWidget* parent = NULL, UASWaypointManager* wpm = NULL);
     virtual ~WaypointList();
 
 public slots:
@@ -77,9 +77,11 @@ public slots:
     /** @brief Read the remote waypoint list to "view"-tab only*/
     void refresh();
     /** @brief Add a waypoint to "edit"-tab */
-    void addEditable(); 
+    void addEditable();
+    /** @brief Add a waypoint to "edit"-tab on current MAV position or on generic position (home) */
+    void addEditable(bool onCurrentPosition);
     /** @brief Add a waypoint at the current MAV position */
-    int addCurrentPositionWaypoint();
+    void addCurrentPositionWaypoint();
     /** @brief Add a waypoint by mouse click over the map */
 
     //Update events

src/ui/designer/QGCParamSlider.cc

@@ -260,11 +260,7 @@ void QGCParamSlider::endEditMode()
     switch (parameterValue.type())
     {
     case QVariant::Char:
-        ui->intValueSpinBox->show();
-        break;
     case QVariant::Int:
-        ui->intValueSpinBox->show();
-        break;
     case QVariant::UInt:
         ui->intValueSpinBox->show();
         break;
@@ -378,14 +374,6 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
         ui->editSelectParamComboBox->addItem(parameterName, paramIndex);
     }
 
-    if (this->parameterName == "RC5_MIN")
-    {
-        int stopper = 1;
-    }
-    if (parameterName == "RC5_MIN")
-    {
-        int stpoper = 1;
-    }
     if (visibleParam != "")
     {
         if (parameterName == visibleParam)
@@ -424,51 +412,51 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
             ui->intValueSpinBox->setEnabled(true);
             ui->doubleValueSpinBox->hide();
             ui->intValueSpinBox->setValue(value.toUInt());
-            ui->intValueSpinBox->setMinimum(-ui->intValueSpinBox->maximum());
-            ui->valueSlider->setValue(floatToScaledInt(value.toUInt()));
+            ui->intValueSpinBox->setRange(0, UINT8_MAX);
             if (parameterMax == 0 && parameterMin == 0)
             {
-                ui->editMaxSpinBox->setValue(255);
+                ui->editMaxSpinBox->setValue(UINT8_MAX);
                 ui->editMinSpinBox->setValue(0);
             }
+            ui->valueSlider->setValue(floatToScaledInt(value.toUInt()));
             break;
         case QVariant::Int:
             ui->intValueSpinBox->show();
             ui->intValueSpinBox->setEnabled(true);
             ui->doubleValueSpinBox->hide();
             ui->intValueSpinBox->setValue(value.toInt());
-            ui->valueSlider->setValue(floatToScaledInt(value.toInt()));
-            ui->intValueSpinBox->setMinimum(-ui->intValueSpinBox->maximum());
+            ui->intValueSpinBox->setRange(INT32_MIN, INT32_MAX);
             if (parameterMax == 0 && parameterMin == 0)
             {
-                ui->editMaxSpinBox->setValue(65535);
-                ui->editMinSpinBox->setValue(0);
+                ui->editMaxSpinBox->setValue(INT32_MAX);
+                ui->editMinSpinBox->setValue(INT32_MIN);
             }
+            ui->valueSlider->setValue(floatToScaledInt(value.toInt()));
             break;
         case QVariant::UInt:
             ui->intValueSpinBox->show();
             ui->intValueSpinBox->setEnabled(true);
             ui->doubleValueSpinBox->hide();
             ui->intValueSpinBox->setValue(value.toUInt());
-            ui->valueSlider->setValue(floatToScaledInt(value.toUInt()));
-            ui->intValueSpinBox->setMinimum(0);
+            ui->intValueSpinBox->setRange(0, UINT32_MAX);
             if (parameterMax == 0 && parameterMin == 0)
             {
-                ui->editMaxSpinBox->setValue(65535);
+                ui->editMaxSpinBox->setValue(UINT32_MAX);
                 ui->editMinSpinBox->setValue(0);
             }
+            ui->valueSlider->setValue(floatToScaledInt(value.toUInt()));
             break;
         case QMetaType::Float:
             ui->doubleValueSpinBox->setValue(value.toFloat());
             ui->doubleValueSpinBox->show();
             ui->doubleValueSpinBox->setEnabled(true);
             ui->intValueSpinBox->hide();
-            ui->valueSlider->setValue(floatToScaledInt(value.toFloat()));
             if (parameterMax == 0 && parameterMin == 0)
             {
                 ui->editMaxSpinBox->setValue(10000);
                 ui->editMinSpinBox->setValue(0);
             }
+            ui->valueSlider->setValue(floatToScaledInt(value.toFloat()));
             break;
         default:
             qCritical() << "ERROR: NO VALID PARAM TYPE";

src/ui/map/QGCMapWidget.cc

@@ -17,10 +17,10 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     followUAVID(0),
     mapInitialized(false),
     homeAltitude(0),
-    uas(0)
+    uas(NULL)
 {
-    //currWPManager = new UASWaypointManager(NULL); //Create a waypoint manager that is null.
     currWPManager = UASManager::instance()->getActiveUASWaypointManager();
+    waypointLines.insert(0, new QGraphicsItemGroup(map));
     connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
     connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
     connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
@@ -207,6 +207,18 @@ void QGCMapWidget::loadSettings(bool changePosition)
     trailInterval = settings.value("TRAIL_INTERVAL", trailInterval).toFloat();
     settings.endGroup();
 
+    // SET CORRECT MENU CHECKBOXES
+    // Set the correct trail interval
+    if (trailType == mapcontrol::UAVTrailType::ByDistance)
+    {
+        // XXX
+#warning Settings loading for trail type not implemented
+    }
+    else if (trailType == mapcontrol::UAVTrailType::ByTimeElapsed)
+    {
+        // XXX
+    }
+
     // SET TRAIL TYPE
     foreach (mapcontrol::UAVItem* uav, GetUAVS())
     {
@@ -245,25 +257,22 @@ void QGCMapWidget::storeSettings()
 
 void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
 {
-
-    // FIXME HACK!
-    //if (currEditMode == EDIT_MODE_WAYPOINTS)
+    // If a waypoint manager is available
+    if (currWPManager)
     {
-        // If a waypoint manager is available
-        if (currWPManager)
-        {
-            // Create new waypoint
-            internals::PointLatLng pos = map->FromLocalToLatLng(event->pos().x(), event->pos().y());
-            Waypoint* wp = currWPManager->createWaypoint();
-            //            wp->blockSignals(true);
-            //            wp->setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-            wp->setLatitude(pos.Lat());
-            wp->setLongitude(pos.Lng());
-            wp->setAltitude(0);
-            //            wp->blockSignals(false);
-            //            currWPManager->notifyOfChangeEditable(wp);
-        }
+        // Create new waypoint
+        internals::PointLatLng pos = map->FromLocalToLatLng(event->pos().x(), event->pos().y());
+        Waypoint* wp = currWPManager->createWaypoint();
+        //            wp->blockSignals(true);
+        //            wp->setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+        wp->setLatitude(pos.Lat());
+        wp->setLongitude(pos.Lng());
+        wp->setFrame((MAV_FRAME)currWPManager->getFrameRecommendation());
+        wp->setAltitude(currWPManager->getAltitudeRecommendation());
+        //            wp->blockSignals(false);
+        //            currWPManager->notifyOfChangeEditable(wp);
     }
+
     OPMapWidget::mouseDoubleClickEvent(event);
 }
 
@@ -276,6 +285,14 @@ void QGCMapWidget::addUAS(UASInterface* uas)
 {
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int)));
+    if (!waypointLines.value(uas->getUASID(), NULL)) {
+        waypointLines.insert(uas->getUASID(), new QGraphicsItemGroup(map));
+    } else {
+        foreach (QGraphicsItem* item, waypointLines.value(uas->getUASID())->childItems())
+        {
+            delete item;
+        }
+    }
 }
 
 void QGCMapWidget::activeUASSet(UASInterface* uas)
@@ -294,45 +311,17 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
         disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
     }
 
-    if (uas)
-    {
-        //UASWaypointManager *old = currWPManager;
-
-        currWPManager = uas->getWaypointManager();
-
-        updateSelectedSystem(uas->getUASID());
-        followUAVID = uas->getUASID();
-
-        updateWaypointList(uas->getUASID());
+    currWPManager = uas->getWaypointManager();
 
-        // Connect the waypoint manager / data storage to the UI
-        connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
-        connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
-        connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
-        connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    updateSelectedSystem(uas->getUASID());
+    followUAVID = uas->getUASID();
+    updateWaypointList(uas->getUASID());
 
-        /*if (offlineMode)
-        {
-
-            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
-            {
-                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
-                for (int i=0;i<old->getWaypointEditableList().size();i++)
-                {
-                    Waypoint *wp = currWPManager->createWaypoint();
-                    wp->setLatitude(old->getWaypointEditableList()[i]->getLatitude());
-                    wp->setLongitude(old->getWaypointEditableList()[i]->getLongitude());
-                    wp->setAltitude(old->getWaypointEditableList()[i]->getAltitude());
-                }
-            }
-            offlineMode = false;
-            old->deleteLater();
-        }*/
-
-
-        // Delete all waypoints and add waypoint from new system
-
-    }
+    // Connect the waypoint manager / data storage to the UI
+    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
+    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
+    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
 }
 
 /**
@@ -360,9 +349,17 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
             newUAV->setParentItem(map);
             UAVS.insert(uas->getUASID(), newUAV);
             uav = GetUAV(uas->getUASID());
-            uav->SetTrailTime(1);
-            uav->SetTrailDistance(5);
-            uav->SetTrailType(mapcontrol::UAVTrailType::ByTimeElapsed);
+            // Set the correct trail type
+            uav->SetTrailType(trailType);
+            // Set the correct trail interval
+            if (trailType == mapcontrol::UAVTrailType::ByDistance)
+            {
+                uav->SetTrailDistance(trailInterval);
+            }
+            else if (trailType == mapcontrol::UAVTrailType::ByTimeElapsed)
+            {
+                uav->SetTrailTime(trailInterval);
+            }
         }
 
         // Set new lat/lon position of UAV icon
@@ -551,6 +548,11 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
 {
     // Block circle updates
     Waypoint* wp = iconsToWaypoints.value(waypoint, NULL);
+
+    // Delete UI element if wp doesn't exist
+    if (!wp)
+        WPDelete(waypoint);
+
     // Protect from vicious double update cycle
     if (firingWaypointChange == wp) return;
     // Not in cycle, block now from entering it
@@ -565,8 +567,8 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
     wp->setLatitude(pos.Lat());
     wp->setLongitude(pos.Lng());
     // XXX Magic values
-    wp->setAltitude(homeAltitude + 50.0f);
-    wp->setAcceptanceRadius(10.0f);
+//    wp->setAltitude(homeAltitude + 50.0f);
+//    wp->setAcceptanceRadius(10.0f);
     wp->blockSignals(false);
 
 
@@ -589,13 +591,15 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
  */
 void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
 {
-    qDebug() << "UPDATING WP FUNCTION CALLED";
+    qDebug() << __FILE__ << __LINE__ << "UPDATING WP FUNCTION CALLED";
     // Source of the event was in this widget, do nothing
-    if (firingWaypointChange == wp) return;
+    if (firingWaypointChange == wp) {
+        return;
+    }
     // Currently only accept waypoint updates from the UAS in focus
     // this has to be changed to accept read-only updates from other systems as well.
     UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
-    if (!uasInstance || uasInstance->getWaypointManager() == currWPManager || uas == -1)
+    if (currWPManager)
     {
         // Only accept waypoints in global coordinate frame
         if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType())
@@ -607,7 +611,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
             // as we're only handling global waypoints
             int wpindex = currWPManager->getGlobalFrameAndNavTypeIndexOf(wp);
             // If not found, return (this should never happen, but helps safety)
-            if (wpindex == -1) return;
+            if (wpindex < 0) return;
             // Mark this wp as currently edited
             firingWaypointChange = wp;
 
@@ -630,7 +634,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
                 if (wpindex > 0)
                 {
                     // Get predecessor of this WP
-                    QVector<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
+                    QList<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
                     Waypoint* wp1 = wps.at(wpindex-1);
                     mapcontrol::WayPointItem* prevIcon = waypointsToIcons.value(wp1, NULL);
                     // If we got a valid graphics item, continue
@@ -686,7 +690,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
             // waypoint list. This implies that the coordinate frame of this
             // waypoint was changed and the list containing only global
             // waypoints was shortened. Thus update the whole list
-            if (waypointsToIcons.size() > currWPManager->getGlobalFrameAndNavTypeCount())
+            if (waypointsToIcons.count() > currWPManager->getGlobalFrameAndNavTypeCount())
             {
                 updateWaypointList(uas);
             }
@@ -705,16 +709,26 @@ void QGCMapWidget::updateWaypointList(int uas)
     // Currently only accept waypoint updates from the UAS in focus
     // this has to be changed to accept read-only updates from other systems as well.
     UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
-    if ((uasInstance && (uasInstance->getWaypointManager() == currWPManager)) || uas == -1)
+    if (currWPManager)
     {
         // ORDER MATTERS HERE!
         // TWO LOOPS ARE NEEDED - INFINITY LOOP ELSE
 
         qDebug() << "DELETING NOW OLD WPS";
 
+        // Delete connecting waypoint lines
+        QGraphicsItemGroup* group = waypointLines.value(uas, NULL);
+        if (group)
+        {
+            foreach (QGraphicsItem* item, group->childItems())
+            {
+                delete item;
+            }
+        }
+
         // Delete first all old waypoints
         // this is suboptimal (quadratic, but wps should stay in the sub-100 range anyway)
-        QVector<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
+        QList<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
         foreach (Waypoint* wp, waypointsToIcons.keys())
         {
             if (!wps.contains(wp))
@@ -742,16 +756,6 @@ void QGCMapWidget::updateWaypointList(int uas)
             if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp);
         }
 
-        // Delete connecting waypoint lines
-        QGraphicsItemGroup* group = waypointLines.value(uas, NULL);
-        if (group)
-        {
-            foreach (QGraphicsItem* item, group->childItems())
-            {
-                delete item;
-            }
-        }
-
         // Add line element if this is NOT the first waypoint
         mapcontrol::WayPointItem* prevIcon = NULL;
         foreach (Waypoint* wp, wps)

src/ui/map3D/Pixhawk3DWidget.cc

@@ -834,7 +834,7 @@ Pixhawk3DWidget::moveWaypointPosition(void)
         return;
     }
 
-    const QVector<Waypoint *> waypoints =
+    const QList<Waypoint *> waypoints =
         mActiveUAS->getWaypointManager()->getWaypointEditableList();
     Waypoint* waypoint = waypoints.at(mSelectedWpIndex);
 
@@ -882,7 +882,7 @@ Pixhawk3DWidget::moveWaypointHeading(void)
         return;
     }
 
-    const QVector<Waypoint *> waypoints =
+    const QList<Waypoint *> waypoints =
         mActiveUAS->getWaypointManager()->getWaypointEditableList();
     Waypoint* waypoint = waypoints.at(mSelectedWpIndex);
 
@@ -929,7 +929,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
     }
 
     bool ok;
-    const QVector<Waypoint *> waypoints =
+    const QList<Waypoint *> waypoints =
         mActiveUAS->getWaypointManager()->getWaypointEditableList();
     Waypoint* waypoint = waypoints.at(mSelectedWpIndex);
 
@@ -960,7 +960,7 @@ Pixhawk3DWidget::clearAllWaypoints(void)
 {
     if (mActiveUAS)
     {
-        const QVector<Waypoint *> waypoints =
+        const QList<Waypoint *> waypoints =
             mActiveUAS->getWaypointManager()->getWaypointEditableList();
         for (int i = waypoints.size() - 1; i >= 0; --i)
         {

src/ui/map3D/QGCGoogleEarthView.cc

@@ -265,7 +265,7 @@ void QGCGoogleEarthView::updateWaypointList(int uas)
     if (uasInstance)
     {
         // Get all waypoints, including non-global waypoints
-        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
+        QList<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
         // Trim internal list to number of global waypoints in the waypoint manager list
         javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));
@@ -712,7 +712,7 @@ void QGCGoogleEarthView::updateState()
                     // Update waypoint or symbol
                     if (mav)
                     {
-                        QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
+                        QList<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
                         bool ok;
                         int index = idText.toInt(&ok);

src/ui/map3D/WaypointGroupNode.cc

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/ShapeDrawable>
 
 #include "Imagery.h"
+#include "UASManager.h"
 
 WaypointGroupNode::WaypointGroupNode(const QColor& color)
  : mColor(color)
@@ -70,6 +71,16 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
         robotZ = -altitude;
     }
+    else if (frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)
+    {
+        double latitude = uas->getLatitude();
+        double longitude = uas->getLongitude();
+        double altitude = uas->getAltitude() + UASManager::instance()->getHomeAltitude();
+
+        QString utmZone;
+        Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
+        robotZ = -altitude;
+    }
     else if (frame == MAV_FRAME_LOCAL_NED)
     {
         robotX = uas->getLocalX();
@@ -82,7 +93,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
         removeChild(0, getNumChildren());
     }
 
-    const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
+    const QList<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
 
     for (int i = 0; i < list.size(); i++)
     {