Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

src/comm/MAVLinkProtocol.cc

@@ -49,6 +49,7 @@ This file is part of the PIXHAWK project
 #include "configuration.h"
 #include "LinkManager.h"
 #include <mavlink.h>
+#include "QGC.h"
 
 /**
  * The default constructor will create a new MAVLink object sending heartbeats at
@@ -129,7 +130,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
             if (m_loggingEnabled)
             {
                 uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-                mavlink_msg_to_send_buffer(buf, &message);
+                quint64 time = MG::TIME::getGroundTimeNowUsecs();
+                memcpy(buf, (void*)&time, sizeof(quint64));
+                mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
                 m_logfile->write((const char*) buf);
                 qDebug() << "WROTE LOGFILE";
             }

src/uas/UAS.cc

@@ -406,11 +406,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_position_controller_output_t out;
                 mavlink_msg_position_controller_output_decode(&message, &out);
-                quint64 time = MG::TIME::getGroundTimeNowUsecs();
+                quint64 time = MG::TIME::getGroundTimeNow();
                 //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
-                emit valueChanged(uasId, "pos control x", out.x, time/1000.0f);
-                emit valueChanged(uasId, "pos control y", out.y, time/1000.0f);
-                emit valueChanged(uasId, "pos control z", out.z, time/1000.0f);
+                emit valueChanged(uasId, "pos control x", out.x, time);
+                emit valueChanged(uasId, "pos control y", out.y, time);
+                emit valueChanged(uasId, "pos control z", out.z, time);
             }
             break;
         case MAVLINK_MSG_ID_WAYPOINT_COUNT:
@@ -428,7 +428,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_waypoint_t wp;
                 mavlink_msg_waypoint_decode(&message, &wp);
-                qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
+                //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
                 if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
                 {
                     waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
@@ -449,11 +449,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
         case MAVLINK_MSG_ID_WAYPOINT_REACHED:
             {
-//                mavlink_waypoint_reached_t wp;
-//                mavlink_msg_waypoint_reached_decode(&message, &wp);
-//                emit waypointReached(this, wp.id);
+                mavlink_waypoint_reached_t wpr;
+                mavlink_msg_waypoint_reached_decode(&message, &wpr);
+                waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
+            }
+            break;
+
+        case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
+            {
+                mavlink_waypoint_set_current_t wpsc;
+                mavlink_msg_waypoint_set_current_decode(&message, &wpsc);
+                waypointManager.handleWaypointSetCurrent(message.sysid, message.compid, &wpsc);
             }
             break;
+
         case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
             {
                 mavlink_local_position_setpoint_t p;
@@ -461,6 +470,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
             }
             break;
+
         case MAVLINK_MSG_ID_STATUSTEXT:
             {
                 QByteArray b;

src/uas/UASWaypointManager.cc

@@ -1,18 +1,70 @@
+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of the waypoint protocol handler
+ *
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "UASWaypointManager.h"
 #include "UAS.h"
 
+#define PROTOCOL_TIMEOUT_MS 2000
+
 UASWaypointManager::UASWaypointManager(UAS &_uas)
         : uas(_uas),
         current_wp_id(0),
         current_count(0),
         current_state(WP_IDLE),
         current_partner_systemid(0),
-        current_partner_compid(0)
+        current_partner_compid(0),
+        protocol_timer(this)
 {
+    connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
+}
+
+void UASWaypointManager::timeout()
+{
+    protocol_timer.stop();
+
+    qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
+
+    emit updateStatusString("Operation timed out.");
+
+    current_state = WP_IDLE;
+    current_count = 0;
+    current_wp_id = 0;
+    current_partner_systemid = 0;
+    current_partner_compid = 0;
 }
 
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
     {
         qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
@@ -35,10 +87,10 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
     {
-        qDebug() << "got waypoint (" << wp->seq << ") from ID " << systemId << " x=" << wp->x << " y=" << wp->y << " z=" << wp->z;
-
         if(wp->seq == current_wp_id)
         {
             //update the UI FIXME
@@ -60,6 +112,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_partner_systemid = 0;
                 current_partner_compid = 0;
 
+                protocol_timer.stop();
                 emit updateStatusString("done.");
 
                 qDebug() << "got all waypoints from ID " << systemId;
@@ -74,6 +127,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)) || (current_state == WP_IDLE && wpr->seq == current_count-1)))
     {
         qDebug() << "handleWaypointRequest";
@@ -89,6 +144,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
                 //all waypoints sent, but we still have to wait for a possible rerequest of the last waypoint
                 current_state = WP_IDLE;
 
+                protocol_timer.stop();
                 emit updateStatusString("done.");
 
                 qDebug() << "send all waypoints to ID " << systemId;
@@ -101,17 +157,24 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
     }
 }
 
-void UASWaypointManager::clearWaypointList()
+void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr)
 {
-
+    if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
+    {
+        emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq));
+    }
 }
 
-void UASWaypointManager::currentWaypointChanged(quint16)
+void UASWaypointManager::handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr)
 {
-
+    if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
+    {
+        qDebug() << "new current waypoint" << wpr->seq;
+        emit currentWaypointChanged(wpr->seq);
+    }
 }
 
-void UASWaypointManager::removeWaypointId(quint16)
+void UASWaypointManager::clearWaypointList()
 {
 
 }
@@ -120,6 +183,8 @@ void UASWaypointManager::requestWaypoints()
 {
     if(current_state == WP_IDLE)
     {
+        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
         mavlink_message_t message;
         mavlink_waypoint_request_list_t wprl;
 
@@ -147,6 +212,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
     {
         if (list.count() > 0)
         {
+            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
             current_count = list.count();
             current_state = WP_SENDLIST;
             current_wp_id = 0;
@@ -242,8 +309,3 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
         qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
 }
-
-void UASWaypointManager::waypointChanged(Waypoint*)
-{
-
-}

src/uas/UASWaypointManager.h

@@ -1,8 +1,40 @@
+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of the waypoint protocol handler
+ *
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef UASWAYPOINTMANAGER_H
 #define UASWAYPOINTMANAGER_H
 
 #include <QObject>
 #include <QVector>
+#include <QTimer>
 #include "Waypoint.h"
 #include <mavlink.h>
 class UAS;
@@ -25,22 +57,23 @@ public:
     void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);
     void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);
     void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);
+    void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
+    void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
 
 private:
     void sendWaypointRequest(quint16 seq);
     void sendWaypoint(quint16 seq);
 
 public slots:
+    void timeout();
     void clearWaypointList();
-    void currentWaypointChanged(quint16);
-    void removeWaypointId(quint16);
     void requestWaypoints();
     void sendWaypoints(const QVector<Waypoint *> &list);
-    void waypointChanged(Waypoint*);
 
 signals:
     void waypointUpdated(int,quint16,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
-    void updateStatusString(const QString &);                                   ///< updates the current status string
+    void currentWaypointChanged(quint16);                                       ///< emits the new current waypoint sequence number
+    void updateStatusString(const QString &);                                   ///< emits the current status string
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
@@ -51,6 +84,7 @@ private:
     quint8 current_partner_compid;                  ///< The current protocol communication target component
 
     QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< communication buffer for waypoints
+    QTimer protocol_timer;                          ///< Timer to catch timeouts
 };
 
 #endif // UASWAYPOINTMANAGER_H

src/ui/HSIDisplay.cc

@@ -210,7 +210,7 @@ void HSIDisplay::paintDisplay()
         // Transform from body to world coordinates
         m = metricWorldToBody(m);
         // Scale from metric body to screen reference units
-        QPointF s = metricBodyToRefX(m);
+        QPointF s = metricBodyToRef(m);
         drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, QGC::ColorCyan, &painter);
     }
 
@@ -297,11 +297,19 @@ QPointF HSIDisplay::refToMetricBody(QPointF &ref)
 /**
  * @see refToScreenX()
  */
-QPointF HSIDisplay::metricBodyToRefX(QPointF &metric)
+QPointF HSIDisplay::metricBodyToRef(QPointF &metric)
 {
     return QPointF(((metric.y())/ metricWidth) * vwidth + xCenterPos, ((-metric.x()) / metricWidth) * vwidth + yCenterPos);
 }
 
+QPointF HSIDisplay::metricBodyToScreen(QPointF metric)
+{
+    QPointF ref = metricBodyToRef(metric);
+    ref.setX(refToScreenX(ref.x()));
+    ref.setY(refToScreenY(ref.y()));
+    return ref;
+}
+
 void HSIDisplay::mouseDoubleClickEvent(QMouseEvent * event)
 {
     static bool dragStarted;
@@ -508,7 +516,7 @@ void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color
     // Transform from body to world coordinates
     in = metricWorldToBody(in);
     // Scale from metric to screen reference coordinates
-    QPointF p = metricBodyToRefX(in);
+    QPointF p = metricBodyToRef(in);
     drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
     radius *= 0.8;
     drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
@@ -522,7 +530,7 @@ void HSIDisplay::drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRig
     pen.setWidthF(refLineWidthToPen(0.1f));
     pen.setColor(color);
     painter.setPen(pen);
-    painter.drawRect(QRectF(topLeft, bottomRight));
+    painter.drawRect(QRectF(metricBodyToScreen(metricWorldToBody(topLeft)), metricBodyToScreen(metricWorldToBody(bottomRight))));
 }
 
 void HSIDisplay::drawGPS(QPainter &painter)

src/ui/HSIDisplay.h

@@ -98,7 +98,9 @@ protected:
     /** @brief Reference coordinates to metric coordinates */
     QPointF refToMetricBody(QPointF &ref);
     /** @brief Metric coordinates to reference coordinates */
-    QPointF metricBodyToRefX(QPointF &metric);
+    QPointF metricBodyToRef(QPointF &metric);
+    /** @brief Metric body coordinates to screen coordinates */
+    QPointF metricBodyToScreen(QPointF metric);
 
     /**
      * @brief Private data container class to be used within the HSI widget

src/ui/WaypointList.cc

@@ -45,8 +45,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 {
     m_ui->setupUi(this);
 
-    transmitDelay = new QTimer(this);
-
     listLayout = new QVBoxLayout(m_ui->listWidget);
     listLayout->setSpacing(6);
     listLayout->setMargin(0);
@@ -73,7 +71,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
-    connect(transmitDelay, SIGNAL(timeout()), this, SLOT(reenableTransmit()));
 
     // STATUS LABEL
     updateStatusLabel("");
@@ -97,14 +94,14 @@ void WaypointList::setUAS(UASInterface* uas)
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
+
+        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),                                this, SLOT(updateStatusLabel(const QString &)));
         connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
-        //connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
-        //connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(quint16)));
+        connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),                                    this, SLOT(currentWaypointChanged(quint16)));
+
         connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)),    &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
         connect(this, SIGNAL(requestWaypoints()),                           &uas->getWaypointManager(), SLOT(requestWaypoints()));
         connect(this, SIGNAL(clearWaypointList()),                          &uas->getWaypointManager(), SLOT(clearWaypointList()));
-
-        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
     }
 }
 
@@ -112,7 +109,6 @@ void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double
 {
     if (uasId == this->uas->getUASID())
     {
-        transmitDelay->start(1000);
         Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
         addWaypoint(wp);
     }
@@ -123,34 +119,30 @@ void WaypointList::waypointReached(UASInterface* uas, quint16 waypointId)
     Q_UNUSED(uas);
     qDebug() << "Waypoint reached: " << waypointId;
 
-    /*if (waypoints.size() > waypointId)
-    {
-        if (waypoints[waypointId]->autocontinue == true)
-        {
+    updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
+}
 
-            for(int i = 0; i < waypoints.size(); i++)
+void WaypointList::currentWaypointChanged(quint16 seq)
+{
+    if (seq < waypoints.size())
     {
-                if (i == waypointId+1)
+        for(int i = 0; i < waypoints.size(); i++)
         {
-                    waypoints[i]->current = true;
             WaypointView* widget = wpViews.find(waypoints[i]).value();
-                    widget->setCurrent();
+
+            if (waypoints[i]->getId() == seq)
+            {
+                waypoints[i]->setCurrent(true);
+                widget->setCurrent(true);
             }
             else
             {
-                    if (waypoints[i]->current)
-                    {
-                        waypoints[i]->current = false;
-                        WaypointView* widget = wpViews.find(waypoints[i]).value();
-                        widget->removeCurrentCheck();
-                    }
+                waypoints[i]->setCurrent(false);
+                widget->setCurrent(false);
             }
         }
         redrawList();
-
-            qDebug() << "NEW WAYPOINT SET";
     }
-    }*/
 }
 
 void WaypointList::read()
@@ -160,16 +152,13 @@ void WaypointList::read()
         removeWaypoint(waypoints[0]);
     }
 
-    redrawList();
     emit requestWaypoints();
 }
 
 void WaypointList::transmit()
 {
-    transmitDelay->start(1000);
-    m_ui->transmitButton->setEnabled(false);
-
     emit sendWaypoints(waypoints);
+    //emit requestWaypoints(); FIXME
 }
 
 void WaypointList::add()
@@ -179,17 +168,18 @@ void WaypointList::add()
     {
         if (waypoints.size() > 0)
         {
-            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.1, -0.5, 0.0, false, false));
+            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, false, false));
         }
         else
         {
-            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.5, 360.0, false, true));
+            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, false, true));
         }
     }
 }
 
 void WaypointList::addWaypoint(Waypoint* wp)
 {
+    waypoints.push_back(wp);
     if (!wpViews.contains(wp))
     {
         WaypointView* wpview = new WaypointView(wp, this);
@@ -198,8 +188,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
         connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
         connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
-        connect(wpview, SIGNAL(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
-        //connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
+        connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
     }
 }
 
@@ -291,28 +280,6 @@ void WaypointList::removeWaypoint(Waypoint* wp)
     }
 }
 
-void WaypointList::setCurrentWaypoint(Waypoint* wp)
-{
-    for(int i = 0; i < waypoints.size(); i++)
-    {
-        if (waypoints[i] == wp)
-        {
-            waypoints[i]->setCurrent(true);
-            // Retransmit waypoint
-            //uas->getWaypointManager().setWaypointActive(i);
-        }
-        else
-        {
-            if (waypoints[i]->getCurrent())
-            {
-                waypoints[i]->setCurrent(false);
-                WaypointView* widget = wpViews.find(waypoints[i]).value();
-                widget->removeCurrentCheck();
-            }
-        }
-    }
-}
-
 void WaypointList::changeEvent(QEvent *e)
 {
     switch (e->type()) {
@@ -324,11 +291,6 @@ void WaypointList::changeEvent(QEvent *e)
     }
 }
 
-void WaypointList::reenableTransmit()
-{
-    m_ui->transmitButton->setEnabled(true);
-}
-
 void WaypointList::saveWaypoints()
 {
     QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));

src/ui/WaypointList.h

@@ -56,7 +56,6 @@ class WaypointList : public QWidget {
 public slots:
     void setUAS(UASInterface* uas);
     void redrawList();
-    void reenableTransmit();
 
     //UI Buttons
     void saveWaypoints();
@@ -66,36 +65,33 @@ public slots:
     void add();
     void moveUp(Waypoint* wp);
     void moveDown(Waypoint* wp);
-    void setCurrentWaypoint(Waypoint* wp);
 
     /** @brief sets statusLabel string */
     void updateStatusLabel(const QString &string);
 
+    void currentWaypointChanged(quint16 seq);
+
     //To be moved to UASWaypointManager (?)
     void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
     void addWaypoint(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
     void waypointReached(UASInterface* uas, quint16 waypointId);
 
+signals:
+    void sendWaypoints(const QVector<Waypoint*> &);
+    void requestWaypoints();
+    void clearWaypointList();
+
 protected:
     virtual void changeEvent(QEvent *e);
 
     QVector<Waypoint*> waypoints;
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
-    QTimer* transmitDelay;
     UASInterface* uas;
 
 private:
     Ui::WaypointList *m_ui;
-
-signals:
-    //void waypointChanged(Waypoint*);
-    //void currentWaypointChanged(int);
-    //void removeWaypointId(int);
-    void sendWaypoints(const QVector<Waypoint*> &);
-    void requestWaypoints();
-    void clearWaypointList();
 };
 
 #endif // WAYPOINTLIST_H

src/ui/WaypointView.cc

@@ -34,6 +34,8 @@ This file is part of the PIXHAWK project
 #include <QDoubleSpinBox>
 #include <QDebug>
 
+#include <cmath>    //M_PI
+
 #include "WaypointView.h"
 #include "ui_WaypointView.h"
 
@@ -49,7 +51,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->xSpinBox->setValue(wp->getX());
     m_ui->ySpinBox->setValue(wp->getY());
     m_ui->zSpinBox->setValue(wp->getZ());
-    m_ui->yawSpinBox->setValue(wp->getYaw());
+    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
     m_ui->selectedBox->setChecked(wp->getCurrent());
     m_ui->autoContinue->setChecked(wp->getAutoContinue());
     m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
@@ -57,14 +59,22 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
-    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setYaw(double)));
+
+    //hidden degree to radian conversion of the yaw angle
+    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
+    connect(this, SIGNAL(setYaw(double)), wp, SLOT(setYaw(double)));
 
     connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
     connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
     connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));
 
-    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(setAutoContinue(int)));
-    connect(m_ui->selectedBox, SIGNAL(clicked()), this, SLOT(setCurrent()));
+    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
+    connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
+}
+
+void WaypointView::setYaw(int yawDegree)
+{
+    emit setYaw((double)yawDegree*M_PI/180.);
 }
 
 void WaypointView::moveUp()
@@ -83,26 +93,37 @@ void WaypointView::remove()
     delete this;
 }
 
-void WaypointView::setAutoContinue(int state)
+void WaypointView::changedAutoContinue(int state)
 {
     if (state == 0)
         wp->setAutocontinue(false);
     else
         wp->setAutocontinue(true);
-    emit waypointUpdated(wp);
 }
 
-void WaypointView::removeCurrentCheck()
+void WaypointView::changedCurrent(int state)
 {
-    m_ui->selectedBox->setCheckState(Qt::Unchecked);
+    if (state == 0)
+    {
+        wp->setCurrent(false);
+    }
+    else
+    {
+        wp->setCurrent(true);
+        emit currentWaypointChanged(wp->getId());   //the slot currentWayppointChanged() in WaypointList sets all other current flags to false
+    }
 }
 
-void WaypointView::setCurrent()
+void WaypointView::setCurrent(bool state)
 {
-    if (m_ui->selectedBox->isChecked())
-        emit setCurrentWaypoint(wp);
-    else
+    if (state)
+    {
         m_ui->selectedBox->setCheckState(Qt::Checked);
+    }
+    else
+    {
+         m_ui->selectedBox->setCheckState(Qt::Unchecked);
+    }
 }
 
 WaypointView::~WaypointView()

src/ui/WaypointView.h

@@ -49,15 +49,16 @@ class WaypointView : public QWidget {
     virtual ~WaypointView();
 
 public:
-    void removeCurrentCheck();
+    void setCurrent(bool state);
 
 public slots:
     void moveUp();
     void moveDown();
     void remove();
-    void setAutoContinue(int);
-    void setCurrent();
-    //void setText();
+    void changedAutoContinue(int);
+    void changedCurrent(int);
+
+    void setYaw(int);   //hidden degree to radian conversion
 
 protected:
     virtual void changeEvent(QEvent *e);
@@ -70,9 +71,8 @@ signals:
     void moveUpWaypoint(Waypoint*);
     void moveDownWaypoint(Waypoint*);
     void removeWaypoint(Waypoint*);
-    void setCurrentWaypoint(Waypoint*);
-    void setWaypointText(Waypoint*, QString);
-    void waypointUpdated(Waypoint*);
+    void currentWaypointChanged(quint16);
+    void setYaw(double);
 };
 
 #endif // WAYPOINTVIEW_H

src/ui/WaypointView.ui

@@ -180,9 +180,21 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QLabel" name="idLabel">
+        <property name="minimumSize">
+         <size>
+          <width>15</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Waypoint Sequence Number</string>
+        </property>
         <property name="text">
          <string>TextLabel</string>
         </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
        </widget>
       </item>
       <item>
@@ -200,22 +212,40 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="xSpinBox">
+        <property name="toolTip">
+         <string>Position X coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>100000.000000000000000</double>
         </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
        </widget>
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="ySpinBox">
+        <property name="toolTip">
+         <string>Position Y coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>100000.000000000000000</double>
         </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
         <property name="value">
          <double>0.000000000000000</double>
         </property>
@@ -223,21 +253,36 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="zSpinBox">
+        <property name="toolTip">
+         <string>Position Z coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>0.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
         </property>
        </widget>
       </item>
       <item>
-       <widget class="QDoubleSpinBox" name="yawSpinBox">
-        <property name="minimum">
-         <double>0.000000000000000</double>
+       <widget class="QSpinBox" name="yawSpinBox">
+        <property name="toolTip">
+         <string>Yaw angle</string>
+        </property>
+        <property name="wrapping">
+         <bool>true</bool>
+        </property>
+        <property name="suffix">
+         <string>°</string>
         </property>
         <property name="maximum">
-         <double>360.000000000000000</double>
+         <number>359</number>
         </property>
        </widget>
       </item>
@@ -259,6 +304,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Move Up</string>
+        </property>
         <property name="text">
          <string/>
         </property>
@@ -276,6 +324,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Move Down</string>
+        </property>
         <property name="text">
          <string/>
         </property>
@@ -293,6 +344,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Delete</string>
+        </property>
         <property name="text">
          <string/>
         </property>