Merge pull request #1848 from DonLakeFlyer/MissionEditor

Mission editor (WIP)

QGCApplication.pro

@@ -144,6 +144,7 @@ INCLUDEPATH += \
     src/input \
     src/Joystick \
     src/lib/qmapcontrol \
+    src/MissionEditor \
     src/QmlControls \
     src/uas \
     src/ui \
@@ -244,6 +245,7 @@ HEADERS += \
     src/Joystick/JoystickManager.h \
     src/LogCompressor.h \
     src/MG.h \
+    src/MissionEditor/MissionEditor.h \
     src/QGC.h \
     src/QGCApplication.h \
     src/QGCComboBox.h \
@@ -381,6 +383,7 @@ SOURCES += \
     src/Joystick/JoystickManager.cc \
     src/LogCompressor.cc \
     src/main.cc \
+    src/MissionEditor/MissionEditor.cc \
     src/QGC.cc \
     src/QGCApplication.cc \
     src/QGCComboBox.cc \

qgroundcontrol.qrc

@@ -100,6 +100,7 @@
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
         <file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
 
         <!-- Vehicle Setup -->
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
@@ -128,6 +129,7 @@
         <file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
         <file alias="FlightDisplayWidget.qml">src/FlightDisplay/FlightDisplayWidget.qml</file>
         <file alias="MapDisplay.qml">src/ui/mapdisplay/MapDisplay.qml</file>
+        <file alias="MissionEditor.qml">src/MissionEditor/MissionEditor.qml</file>
 
         <!-- FlightMap module -->
         <file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
@@ -150,7 +152,7 @@
         <file alias="QGroundControl/FlightMap/QGCWaypointEditor.qml">src/FlightMap/Widgets/QGCWaypointEditor.qml</file>
 
         <!-- FlightMap MapQuickItems -->
-        <file alias="QGroundControl/FlightMap/MissionMapItem.qml">src/FlightMap/MapItems/MissionMapItem.qml</file>
+        <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
 
     </qresource>

src/FlightDisplay/FlightDisplayView.qml

@@ -95,8 +95,10 @@ Item {
             model: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.missionItems : 0
             
             delegate:
-                MissionMapItem {
-                    missionItem: object
+                MissionItemIndicator {
+                    label:          object.sequenceNumber
+                    isCurrentItem:  object.isCurrentItem
+                    coordinate:     object.coordinate
                 }
         }
 

src/FlightMap/FlightMap.qml

@@ -76,13 +76,13 @@ Map {
         Menu {
             id: mapTypeMenu
             title: "Map Type..."
-            enabled: root.visible
+            enabled: _map.visible
             ExclusiveGroup { id: currMapType }
             function setCurrentMap(mapID) {
                 for (var i = 0; i < _map.supportedMapTypes.length; i++) {
                     if (mapID === _map.supportedMapTypes[i].name) {
                         _map.activeMapType = _map.supportedMapTypes[i]
-                        multiVehicleManager.saveSetting(root.mapName + "/currentMapType", mapID);
+                        multiVehicleManager.saveSetting(_map.mapName + "/currentMapType", mapID);
                         return;
                     }
                 }
@@ -100,7 +100,7 @@ Map {
                 var mapID = ''
                 if (_map.supportedMapTypes.length > 0)
                     mapID = _map.activeMapType.name;
-                mapID = multiVehicleManager.loadSetting(root.mapName + "/currentMapType", mapID);
+                mapID = multiVehicleManager.loadSetting(_map.mapName + "/currentMapType", mapID);
                 for (var i = 0; i < _map.supportedMapTypes.length; i++) {
                     var name = _map.supportedMapTypes[i].name;
                     addMap(name, mapID === name);

src/FlightMap/MapItems/MissionMapItem.qml → src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -30,14 +30,14 @@ import QGroundControl.Vehicle       1.0
 
 /// Marker for displaying a mission item on the map
 MapQuickItem {
-    property var missionItem        ///< Mission Item object
+    property alias  label:          _label.label
+    property alias  isCurrentItem:  _label.isCurrentItem
 
     anchorPoint.x:  sourceItem.width  / 2
     anchorPoint.y:  sourceItem.height / 2
-    coordinate:     missionItem.coordinate
 
     sourceItem:
         MissionItemIndexLabel {
-            missionItemIndex: missionItem.id
+            id: _label
         }
 }

src/FlightMap/qmldir

@@ -21,4 +21,4 @@ QGCWaypointEditor       1.0 QGCWaypointEditor.qml
 
 # MapQuickItems
 VehicleMapItem          1.0 VehicleMapItem.qml
-MissionMapItem          1.0 MissionMapItem.qml
+MissionItemIndicator          1.0 MissionItemIndicator.qml

src/MissionEditor/MissionEditor.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL 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.
+
+    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#include "MissionEditor.h"
+#include "ScreenToolsController.h"
+
+#include <QQmlContext>
+#include <QQmlEngine>
+#include <QSettings>
+
+const char* MissionEditor::_settingsGroup = "MissionEditor";
+
+MissionEditor::MissionEditor(QWidget *parent)
+    : QGCQmlWidgetHolder(parent)
+{
+    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+    // Get rid of layout default margins
+    QLayout* pl = layout();
+    if(pl) {
+        pl->setContentsMargins(0,0,0,0);
+    }
+#ifndef __android__
+    setMinimumWidth( 31 * ScreenToolsController::defaultFontPixelSize_s());
+    setMinimumHeight(33 * ScreenToolsController::defaultFontPixelSize_s());
+#endif
+    
+    setContextPropertyObject("controller", this);
+
+    setSource(QUrl::fromUserInput("qrc:/qml/MissionEditor.qml"));
+}
+
+MissionEditor::~MissionEditor()
+{
+}
+
+void MissionEditor::saveSetting(const QString &name, const QString& value)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    
+    settings.setValue(name, value);
+}
+
+QString MissionEditor::loadSetting(const QString &name, const QString& defaultValue)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    
+    return settings.value(name, defaultValue).toString();
+}
+
+void MissionEditor::addMissionItem(QGeoCoordinate coordinate)
+{
+    MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate);
+    if (_missionItems.count() == 0) {
+        newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+    }
+    qDebug() << "MissionItem" << newItem->coordinate();
+    _missionItems.append(newItem);
+}

src/MissionEditor/MissionEditor.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL 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.
+
+    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#ifndef MissionEditor_H
+#define MissionEditor_H
+
+#include "QGCQmlWidgetHolder.h"
+#include "QmlObjectListModel.h"
+
+class MissionEditor : public QGCQmlWidgetHolder
+{
+    Q_OBJECT
+    
+public:
+    MissionEditor(QWidget* parent = NULL);
+    ~MissionEditor();
+
+    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel CONSTANT)
+    
+    Q_INVOKABLE void addMissionItem(QGeoCoordinate coordinate);
+    
+    Q_INVOKABLE void    saveSetting (const QString &key, const QString& value);
+    Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
+
+    // Property accessors
+    
+    QmlObjectListModel* missionItemsModel(void) { return &_missionItems; }
+    
+private:
+    QmlObjectListModel  _missionItems;
+    
+    static const char* _settingsGroup;
+};
+
+#endif

src/MissionEditor/MissionEditor.qml

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL 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.
+
+    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+import QtQuick          2.4
+import QtQuick.Controls 1.3
+import QtQuick.Dialogs  1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl.FlightMap     1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+
+/// Mission Editor
+
+Item {
+    // For some reason we can't have FlightMap as the top level control. If you do that it doesn't draw.
+    // So we have an Item at the top to work around that.
+
+    readonly property real  _defaultLatitude:   37.803784
+    readonly property real  _defaultLongitude:  -122.462276
+    readonly property int   _decimalPlaces:     7
+
+    FlightMap {
+        id:             editorMap
+        anchors.fill:   parent
+        mapName:        "MissionEditor"
+        latitude:       _defaultLatitude
+        longitude:      _defaultLongitude
+
+        QGCLabel { text: "WIP: Non functional"; font.pixelSize: ScreenTools.largeFontPixelSize }
+
+
+        MouseArea {
+            anchors.fill: parent
+
+            onClicked: {
+                var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
+                coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
+                coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
+                coordinate.altitude = 0
+                controller.addMissionItem(coordinate)
+            }
+        }
+
+        // Add the mission items to the map
+        MapItemView {
+            model: controller.missionItems
+            
+            delegate:
+                MissionItemIndicator {
+                    label:          object.sequenceNumber
+                    isCurrentItem:  object.isCurrentItem
+                    coordinate:     object.coordinate
+
+                    Component.onCompleted: console.log("Indicator", object.coordinate)
+                }
+        }
+
+        // Mission item list
+        ListView {
+            id:                 missionItemSummaryList
+            anchors.margins:    ScreenTools.defaultFontPixelHeight
+            anchors.top:        parent.top
+            anchors.bottom:     editorMap.mapWidgets.top
+            anchors.right:      parent.right
+            width:              ScreenTools.defaultFontPixelWidth * 30
+            spacing:            ScreenTools.defaultFontPixelHeight / 2
+            orientation:        ListView.Vertical
+            model:              controller.missionItems
+
+            property real _maxItemHeight: 0
+
+            delegate:
+                MissionItemEditor {
+                    missionItem:    object
+                }
+        }
+
+        Column {
+            id:                 controlWidgets
+            anchors.margins:    ScreenTools.defaultFontPixelWidth
+            anchors.right:      parent.left
+            anchors.bottom:     parent.top
+            spacing:            ScreenTools.defaultFontPixelWidth / 2
+
+            QGCButton {
+                id:         addMode
+                text:       "+"
+                checkable:  true
+            }
+        }
+    }
+}

src/MissionItem.cc

@@ -34,41 +34,43 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionItem.h"
 
-MissionItem::MissionItem(
-    QObject *parent,
-    quint16 id,
-    double  x,
-    double  y,
-    double  z,
-    double  param1,
-    double  param2,
-    double  param3,
-    double  param4,
-    bool    autocontinue,
-    bool    current,
-    int     frame,
-    int     action,
-    const QString& description
-    )
+const MissionItem::MavCmd2Name_t  MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
+    { MAV_CMD_NAV_WAYPOINT,         "Waypoint" },
+    { MAV_CMD_NAV_LOITER_UNLIM,     "Loiter" },
+    { MAV_CMD_NAV_LOITER_TURNS,     "Loiter (turns)" },
+    { MAV_CMD_NAV_LOITER_TIME,      "Loiter (unlimited)" },
+    { MAV_CMD_NAV_RETURN_TO_LAUNCH, "Return Home" },
+    { MAV_CMD_NAV_LAND,             "Land" },
+    { MAV_CMD_NAV_TAKEOFF,          "Takeoff" },
+    { MAV_CMD_CONDITION_DELAY,      "Delay" },
+    { MAV_CMD_DO_JUMP,              "Jump To Command" },
+};
+
+MissionItem::MissionItem(QObject*       parent,
+                         int            sequenceNumber,
+                         QGeoCoordinate coordinate,
+                         double         param1,
+                         double         param2,
+                         double         param3,
+                         double         param4,
+                         bool           autocontinue,
+                         bool           isCurrentItem,
+                         int            frame,
+                         int            action)
     : QObject(parent)
-    , _id(id)
-    , _x(x)
-    , _y(y)
-    , _z(z)
+    , _sequenceNumber(sequenceNumber)
+    , _coordinate(coordinate)
     , _yaw(param4)
     , _frame(frame)
     , _action(action)
     , _autocontinue(autocontinue)
-    , _current(current)
+    , _isCurrentItem(isCurrentItem)
     , _orbit(param3)
     , _param1(param1)
     , _param2(param2)
-    , _name(QString("WP%1").arg(id, 2, 10, QChar('0')))
-    , _description(description)
     , _reachedTime(0)
 {
-    connect(this, &MissionItem::latitudeChanged, this, &MissionItem::coordinateChanged);
-    connect(this, &MissionItem::longitudeChanged, this, &MissionItem::coordinateChanged);
+
 }
 
 MissionItem::MissionItem(const MissionItem& other)
@@ -83,21 +85,18 @@ MissionItem::~MissionItem()
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
 {
-    _id              = other.getId();
-    _x               = other.getX();
-    _y               = other.getY();
-    _z               = other.getZ();
-    _yaw             = other.getYaw();
-    _frame           = other.getFrame();
-    _action          = other.getAction();
-    _autocontinue    = other.getAutoContinue();
-    _current         = other.getCurrent();
-    _orbit           = other.getParam3();
-    _param1          = other.getParam1();
-    _param2          = other.getParam2();
-    _name            = other.getName();
-    _description     = other.getDescription();
-    _reachedTime     = other.getReachedTime();
+    _sequenceNumber = other._sequenceNumber;
+    _isCurrentItem  = other._isCurrentItem;
+    _coordinate     = other._coordinate;
+    _yaw            = other._yaw;
+    _frame          = other._frame;
+    _action         = other._action;
+    _autocontinue   = other._autocontinue;
+    _orbit          = other._orbit;
+    _param1         = other._param1;
+    _param2         = other._param2;
+    _reachedTime    = other._reachedTime;
+    
     return *this;
 }
 
@@ -109,43 +108,42 @@ bool MissionItem::isNavigationType()
 void MissionItem::save(QTextStream &saveStream)
 {
     QString position("%1\t%2\t%3");
-    position = position.arg(_x, 0, 'g', 18);
-    position = position.arg(_y, 0, 'g', 18);
-    position = position.arg(_z, 0, 'g', 18);
+    position = position.arg(x(), 0, 'g', 18);
+    position = position.arg(y(), 0, 'g', 18);
+    position = position.arg(z(), 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
     parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yaw, 0, 'g', 18);
     // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
-    saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
+    saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
 }
 
 bool MissionItem::load(QTextStream &loadStream)
 {
     const QStringList &wpParams = loadStream.readLine().split("\t");
     if (wpParams.size() == 12) {
-        _id = wpParams[0].toInt();
-        _current = (wpParams[1].toInt() == 1 ? true : false);
+        setSequenceNumber(wpParams[0].toInt());
+        setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
         _frame = (MAV_FRAME) wpParams[2].toInt();
         _action = (MAV_CMD) wpParams[3].toInt();
         _param1 = wpParams[4].toDouble();
         _param2 = wpParams[5].toDouble();
         _orbit = wpParams[6].toDouble();
-        _yaw = wpParams[7].toDouble();
-        _x = wpParams[8].toDouble();
-        _y = wpParams[9].toDouble();
-        _z = wpParams[10].toDouble();
+        setYaw(wpParams[7].toDouble());
+        setLatitude(wpParams[8].toDouble());
+        setLongitude(wpParams[9].toDouble());
+        setAltitude(wpParams[10].toDouble());
         _autocontinue = (wpParams[11].toInt() == 1 ? true : false);
-        //_description = wpParams[12];
         return true;
     }
     return false;
 }
 
 
-void MissionItem::setId(quint16 id)
+void MissionItem::setSequenceNumber(int sequenceNumber)
 {
-    _id = id;
-    _name = QString("WP%1").arg(id, 2, 10, QChar('0'));
+    _sequenceNumber = sequenceNumber;
+    emit sequenceNumberChanged(_sequenceNumber);
     emit changed(this);
 }
 
@@ -153,8 +151,7 @@ void MissionItem::setX(double x)
 {
     if (!isinf(x) && !isnan(x) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        _x = x;
-        emit changed(this);
+        setLatitude(x);
     }
 }
 
@@ -162,8 +159,7 @@ void MissionItem::setY(double y)
 {
     if (!isinf(y) && !isnan(y) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        _y = y;
-        emit changed(this);
+        setLongitude(y);
     }
 }
 
@@ -171,49 +167,38 @@ void MissionItem::setZ(double z)
 {
     if (!isinf(z) && !isnan(z) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        _z = z;
-        emit changed(this);
+        setAltitude(z);
     }
 }
 
 void MissionItem::setLatitude(double lat)
 {
-    if (_x != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_coordinate.latitude() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _x = lat;
+        _coordinate.setLatitude(lat);
         emit changed(this);
-        emit coordinateChanged();
+        emit coordinateChanged(coordinate());
     }
 }
 
 void MissionItem::setLongitude(double lon)
 {
-    if (_y != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_coordinate.longitude() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _y = lon;
+        _coordinate.setLongitude(lon);
         emit changed(this);
-        emit coordinateChanged();
+        emit coordinateChanged(coordinate());
     }
 }
 
 void MissionItem::setAltitude(double altitude)
 {
-    if (_z != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_coordinate.altitude() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _z = altitude;
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-        emit coordinateChanged();
-    }
-}
-
-void MissionItem::setYaw(int yaw)
-{
-    if (_yaw != yaw)
-    {
-        _yaw = yaw;
+        _coordinate.setAltitude(altitude);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
+        emit coordinateChanged(coordinate());
     }
 }
 
@@ -222,6 +207,7 @@ void MissionItem::setYaw(double yaw)
     if (_yaw != yaw)
     {
         _yaw = yaw;
+        emit yawChanged(yaw);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
     }
@@ -242,7 +228,7 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
         emit changed(this);
         emit commandNameChanged(commandName());
         emit commandChanged((MavlinkQmlSingleton::Qml_MAV_CMD)_action);
-        emit hasCoordinateChanged(hasCoordinate());
+        emit specifiesCoordinateChanged(specifiesCoordinate());
         emit valueLabelsChanged(valueLabels());
         emit valueStringsChanged(valueStrings());
     }
@@ -264,13 +250,11 @@ void MissionItem::setAutocontinue(bool autoContinue)
     }
 }
 
-void MissionItem::setCurrent(bool current)
+void MissionItem::setIsCurrentItem(bool isCurrentItem)
 {
-    if (_current != current)
-    {
-        _current = current;
-        // The current waypoint index is handled by the list
-        // and not part of the individual waypoint update state
+    if (_isCurrentItem != isCurrentItem) {
+        _isCurrentItem = isCurrentItem;
+        emit isCurrentItemChanged(isCurrentItem);
     }
 }
 
@@ -326,8 +310,8 @@ void MissionItem::setParam4(double param4)
 
 void MissionItem::setParam5(double param5)
 {
-    if (_x != param5) {
-        _x = param5;
+    if (_coordinate.latitude() != param5) {
+        _coordinate.setLatitude(param5);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
     }
@@ -335,8 +319,8 @@ void MissionItem::setParam5(double param5)
 
 void MissionItem::setParam6(double param6)
 {
-    if (_y != param6) {
-        _y = param6;
+    if (_coordinate.longitude() != param6) {
+        _coordinate.setLongitude(param6);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
     }
@@ -344,8 +328,8 @@ void MissionItem::setParam6(double param6)
 
 void MissionItem::setParam7(double param7)
 {
-    if (_z != param7) {
-        _z = param7;
+    if (_coordinate.altitude() != param7) {
+        _coordinate.setAltitude(param7);
         emit valueStringsChanged(valueStrings());
         emit changed(this);
     }
@@ -387,7 +371,7 @@ void MissionItem::setTurns(int turns)
     }
 }
 
-bool MissionItem::hasCoordinate(void)
+bool MissionItem::specifiesCoordinate(void) const
 {
     switch (_action) {
         case MAV_CMD_NAV_WAYPOINT:
@@ -402,11 +386,6 @@ bool MissionItem::hasCoordinate(void)
     }
 }
 
-QGeoCoordinate MissionItem::coordinate(void)
-{
-    return QGeoCoordinate(_x, _y);
-}
-
 QString MissionItem::commandName(void)
 {
     QString type;
@@ -507,7 +486,7 @@ QStringList MissionItem::valueStrings(void)
     
     switch (_action) {
         case MAV_CMD_NAV_WAYPOINT:
-            list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
             list << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_orbit);
@@ -521,10 +500,10 @@ QStringList MissionItem::valueStrings(void)
         case MAV_CMD_NAV_RETURN_TO_LAUNCH:
             break;
         case MAV_CMD_NAV_LAND:
-            list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI));
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI));
             break;
         case MAV_CMD_NAV_TAKEOFF:
-            list << _oneDecimalString(_z) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yaw * (180.0 / M_PI)) << _oneDecimalString(_param1);
             break;
         case MAV_CMD_CONDITION_DELAY:
             list << _oneDecimalString(_param1);
@@ -537,4 +516,42 @@ QStringList MissionItem::valueStrings(void)
     }
     
     return list;
-}
\ No newline at end of file
+}
+
+void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    _coordinate = coordinate;
+    emit coordinateChanged(coordinate);
+    emit changed(this);
+}
+
+QStringList MissionItem::commandNames(void) {
+    QStringList list;
+    
+    for (int i=0; i<_cMavCmd2Name; i++) {
+        list += _rgMavCmd2Name[i].name;
+    }
+    
+    return list;
+}
+
+int MissionItem::commandByIndex(void)
+{
+    for (int i=0; i<_cMavCmd2Name; i++) {
+        if (_rgMavCmd2Name[i].command == _action) {
+            return i;
+        }
+    }
+    
+    return -1;
+}
+
+void MissionItem::setCommandByIndex(int index)
+{
+    if (index < 0 || index >= _cMavCmd2Name) {
+        qWarning() << "Invalid index" << index;
+        return;
+    }
+    
+    setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
+}

src/MissionItem.h

@@ -39,76 +39,84 @@ class MissionItem : public QObject
     Q_OBJECT
     
 public:
-    MissionItem(
-        QObject *parent = 0,
-        quint16 id = 0,
-        double  x = 0.0,
-        double  y = 0.0,
-        double  z = 0.0,
-        double  param1 = 0.0,
-        double  param2 = 0.0,
-        double  param3 = 0.0,
-        double  param4 = 0.0,
-        bool    autocontinue = true,
-        bool    current = false,
-        int     frame = MAV_FRAME_GLOBAL,
-        int     action = MAV_CMD_NAV_WAYPOINT,
-        const QString& description=QString(""));
+    MissionItem(QObject         *parent = 0,
+                int             sequenceNumber = 0,
+                QGeoCoordinate  coordiante = QGeoCoordinate(),
+                double          param1 = 0.0,
+                double          param2 = 0.0,
+                double          param3 = 0.0,
+                double          param4 = 0.0,
+                bool            autocontinue = true,
+                bool            isCurrentItem = false,
+                int             frame = MAV_FRAME_GLOBAL,
+                int             action = MAV_CMD_NAV_WAYPOINT);
 
     MissionItem(const MissionItem& other);
     ~MissionItem();
 
     const MissionItem& operator=(const MissionItem& other);
-
-    Q_PROPERTY(bool hasCoordinate READ hasCoordinate NOTIFY hasCoordinateChanged)
-    Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
     
-    Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged)
-    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
+    Q_PROPERTY(int              sequenceNumber      READ sequenceNumber         WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
+    Q_PROPERTY(bool             isCurrentItem       READ isCurrentItem          WRITE setIsCurrentItem  NOTIFY isCurrentItemChanged)
+    Q_PROPERTY(bool             specifiesCoordinate READ specifiesCoordinate                            NOTIFY specifiesCoordinateChanged)
+    Q_PROPERTY(QGeoCoordinate   coordinate          READ coordinate             WRITE setCoordinate     NOTIFY coordinateChanged)
+    Q_PROPERTY(double           yaw                 READ yaw                    WRITE setYaw            NOTIFY yawChanged)
+    Q_PROPERTY(QStringList      commandNames        READ commandNames                                   CONSTANT)
+    Q_PROPERTY(QString          commandName         READ commandName                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList      valueLabels         READ valueLabels                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList      valueStrings        READ valueStrings                                   NOTIFY valueStringsChanged)
+    Q_PROPERTY(int              commandByIndex      READ commandByIndex         WRITE setCommandByIndex NOTIFY commandChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command            WRITE setCommand        NOTIFY commandChanged)
+    
+    // Property accesors
+    
+    int sequenceNumber(void) const { return _sequenceNumber; }
+    void setSequenceNumber(int sequenceNumber);
+    
+    bool isCurrentItem(void) const { return _isCurrentItem; }
+    void setIsCurrentItem(bool isCurrentItem);
     
-    Q_PROPERTY(double  longitude READ longitude  NOTIFY longitudeChanged)
-    Q_PROPERTY(double  latitude  READ latitude   NOTIFY latitudeChanged)
-    Q_PROPERTY(double  altitude  READ altitude   NOTIFY altitudeChanged)
-    Q_PROPERTY(quint16 id        READ id         CONSTANT)
+    bool specifiesCoordinate(void) const;
     
-    Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
-    Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
+    QGeoCoordinate coordinate(void) const { return _coordinate; }
+    void setCoordinate(const QGeoCoordinate& coordinate);
+    
+    QStringList commandNames(void);
+    QString commandName(void);
 
-    double  latitude()  { return _x; }
-    double  longitude() { return _y; }
-    double  altitude()  { return _z; }
-    quint16 id()        { return _id; }
+    int commandByIndex(void);
+    void setCommandByIndex(int index);
+    
+    MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); };
+    void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); }
+    
+    QStringList valueLabels(void);
+    QStringList valueStrings(void);
+    
+    // C++ only methods
 
-    quint16 getId() const {
-        return _id;
-    }
-    double getX() const {
-        return _x;
-    }
-    double getY() const {
-        return _y;
-    }
-    double getZ() const {
-        return _z;
-    }
-    double getLatitude() const {
-        return _x;
-    }
-    double getLongitude() const {
-        return _y;
-    }
-    double getAltitude() const {
-        return _z;
-    }
-    double getYaw() const {
-        return _yaw;
-    }
+    double latitude(void)  const { return _coordinate.latitude(); }
+    double longitude(void) const { return _coordinate.longitude(); }
+    double altitude(void)  const { return _coordinate.altitude(); }
+    
+    void setLatitude(double latitude);
+    void setLongitude(double longitude);
+    void setAltitude(double altitude);
+    
+    double x(void) const { return latitude(); }
+    double y(void) const { return longitude(); }
+    double z(void) const { return altitude(); }
+    
+    void setX(double x);
+    void setY(double y);
+    void setZ(double z);
+    
+    double yaw(void) const { return _yaw; }
+    void setYaw(double yaw);
+    
     bool getAutoContinue() const {
         return _autocontinue;
     }
-    bool getCurrent() const {
-        return _current;
-    }
     double getLoiterOrbit() const {
         return _orbit;
     }
@@ -128,16 +136,16 @@ public:
         return _orbit;
     }
     double getParam4() const {
-        return _yaw;
+        return yaw();
     }
     double getParam5() const {
-        return _x;
+        return latitude();
     }
     double getParam6() const {
-        return _y;
+        return longitude();
     }
     double getParam7() const {
-        return _z;
+        return altitude();
     }
     int getTurns() const {
         return _param1;
@@ -150,13 +158,6 @@ public:
     int getAction() const {
         return _action;
     }
-    const QString& getName() const {
-        return _name;
-    }
-    const QString& getDescription() const {
-        return _description;
-    }
-
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 
@@ -166,47 +167,24 @@ public:
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
     
-    bool hasCoordinate(void);
-    QGeoCoordinate coordinate(void);
     
-    QString commandName(void);
+signals:
+    void sequenceNumberChanged(int sequenceNumber);
+    void specifiesCoordinateChanged(bool specifiesCoordinate);
+    void isCurrentItemChanged(bool isCurrentItem);
+    void coordinateChanged(const QGeoCoordinate& coordinate);
+    void yawChanged(double yaw);
+
+    /** @brief Announces a change to the waypoint data */
+    void changed(MissionItem* wp);
 
-    MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); };
-    void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); }
     
-    QStringList valueLabels(void);
-    QStringList valueStrings(void);
+    void commandNameChanged(QString type);
+    void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
+    void valueLabelsChanged(QStringList valueLabels);
+    void valueStringsChanged(QStringList valueStrings);
     
-protected:
-    quint16 _id;
-    double  _x;
-    double  _y;
-    double  _z;
-    double  _yaw;
-    int     _frame;
-    int     _action;
-    bool    _autocontinue;
-    bool    _current;
-    double  _orbit;
-    double  _param1;
-    double  _param2;
-    int     _turns;
-    QString _name;
-    QString _description;
-    quint64 _reachedTime;
-
 public:
-    void setId          (quint16 _id);
-    void setX           (double _x);
-    void setY           (double _y);
-    void setZ           (double _z);
-    void setLatitude    (double lat);
-    void setLongitude   (double lon);
-    void setAltitude    (double alt);
-    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw         (int _yaw);
-    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw         (double _yaw);
     /** @brief Set the waypoint action */
     void setAction      (int _action);
     void setFrame       (int _frame);
@@ -234,22 +212,30 @@ public:
         emit changed(this);
     }
 
-signals:
-    /** @brief Announces a change to the waypoint data */
-    void changed(MissionItem* wp);
-
-    void latitudeChanged    ();
-    void longitudeChanged   ();
-    void altitudeChanged    ();
-    void hasCoordinateChanged(bool hasCoordinate);
-    void coordinateChanged(void);
-    void commandNameChanged(QString type);
-    void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
-    void valueLabelsChanged(QStringList valueLabels);
-    void valueStringsChanged(QStringList valueStrings);
-    
 private:
     QString _oneDecimalString(double value);
+
+private:
+    typedef struct {
+        MAV_CMD     command;
+        const char* name;
+    } MavCmd2Name_t;
+    
+    int             _sequenceNumber;
+    QGeoCoordinate  _coordinate;
+    double          _yaw;
+    int             _frame;
+    int             _action;
+    bool            _autocontinue;
+    bool            _isCurrentItem;
+    double          _orbit;
+    double          _param1;
+    double          _param2;
+    int             _turns;
+    quint64         _reachedTime;
+    
+    static const int            _cMavCmd2Name = 9;
+    static const MavCmd2Name_t  _rgMavCmd2Name[_cMavCmd2Name];
 };
 
 #endif

src/QmlControls/MissionItemEditor.qml

+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+
+/// Mission item edit control
+Rectangle {
+    property var    missionItem
+
+    width:          _editFieldWidth + (ScreenTools.defaultFontPixelWidth * 10)
+    height:         _valueColumn.y + _valueColumn.height + (radius / 2)
+    border.width:   2
+    border.color:   "white"
+    color:          "white"
+    radius:         ScreenTools.defaultFontPixelWidth
+
+    readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 13
+
+    MissionItemIndexLabel {
+        id:                 _label
+        anchors.top:        parent.top
+        anchors.right:      parent.right
+        isCurrentItem:      missionItem.isCurrentItem
+        label:              missionItem.sequenceNumber
+    }
+
+    QGCComboBox {
+        id:                 _commandCombo
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      _label.left
+        anchors.top:        parent.top
+        currentIndex:       missionItem.commandByIndex
+        model:              missionItem.commandNames
+
+        onActivated: missionItem.commandByIndex = index
+    }
+
+    Column {
+        id:                 _coordinateColumn
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        visible:            missionItem.specifiesCoordinate
+
+    }
+
+    QGCTextField {
+        id:                 _latitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _commandCombo.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.latitude
+        visible:            missionItem.specifiesCoordinate
+
+        onAccepted:         missionItem.coordinate.latitude = text
+    }
+
+    QGCTextField {
+        id:                 _longitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _latitudeField.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.longitude
+        visible:            missionItem.specifiesCoordinate
+
+        onAccepted:         missionItem.coordinate.longtitude = text
+    }
+
+    QGCTextField {
+        id:                 _altitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _longitudeField.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.altitude
+        visible:            missionItem.specifiesCoordinate
+        showUnits:          true
+        unitsLabel:         "meters"
+
+        onAccepted:         missionItem.coordinate.altitude = text
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _latitudeField.baseline
+        color:              "black"
+        text:               "Lat:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _longitudeField.baseline
+        color:              "black"
+        text:               "Long:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _altitudeField.baseline
+        color:              "black"
+        text:               "Alt:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    Column {
+        id:                 _valueColumn
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        missionItem.specifiesCoordinate ? _altitudeField.bottom : _commandCombo.bottom
+
+        Repeater {
+            model: missionItem.valueLabels
+
+            QGCLabel {
+                color:  "black"
+                text:   modelData
+            }
+        }
+    }
+
+    Column {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        _valueColumn.top
+
+        Repeater {
+            model: missionItem.valueStrings
+
+            QGCLabel {
+                width:                  _valueColumn.width
+                color:                  "black"
+                text:                   modelData
+                horizontalAlignment:    Text.AlignRight
+            }
+        }
+    }
+}

src/QmlControls/MissionItemIndexLabel.qml

@@ -5,20 +5,21 @@ import QtQuick.Controls.Styles  1.2
 import QGroundControl.ScreenTools 1.0
 
 Rectangle {
-    property int missionItemIndex  ///< Index to show in label
+    property alias  label:          _label.text
+    property bool   isCurrentItem:  false
 
     width:          ScreenTools.defaultFontPixelHeight * 1.5
     height:         width
     radius:         width / 2
     border.width:   2
     border.color:   "white"
-    color:          "orange"
+    color:          isCurrentItem ? "green" : "orange"
 
     QGCLabel {
+        id:                     _label
         anchors.fill:           parent
         horizontalAlignment:    Text.AlignHCenter
         verticalAlignment:      Text.AlignVCenter
         color:                  "white"
-        text:                   missionItemIndex
     }
 }

src/QmlControls/MissionItemSummary.qml

@@ -7,7 +7,7 @@ import QGroundControl.Vehicle       1.0
 
 /// Mission item summary display control
 Rectangle {
-    property var missionItem        ///< Mission Item object
+    property var    missionItem                         ///< Mission Item object
 
     width:          ScreenTools.defaultFontPixelWidth * 15
     height:         valueColumn.height + radius
@@ -17,9 +17,11 @@ Rectangle {
     radius:         ScreenTools.defaultFontPixelWidth
 
     MissionItemIndexLabel {
+        id:                 _indexLabel
         anchors.top:        parent.top
         anchors.right:      parent.right
-        missionItemIndex:   missionItem.id
+        isCurrentItem:      missionItem.isCurrentItem
+        label:              missionItem.sequenceNumber
     }
 
     Column {

src/QmlControls/QGroundControl.Controls.qmldir

@@ -28,4 +28,5 @@ QGCViewMessage  1.0 QGCViewMessage.qml
 
 MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
 MissionItemSummary      1.0 MissionItemSummary.qml
+MissionItemEditor       1.0 MissionItemEditor.qml
 

src/Vehicle/Vehicle.cc

@@ -708,7 +708,7 @@ void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
     /*
      bool changed = false;
      for(int i = 0; i < _waypoints.count(); i++) {
-     if(_waypoints[i].getId() == wp->getId()) {
+     if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) {
      _waypoints[i] = *wp;
      changed = true;
      break;

src/uas/UASWaypointManager.cc

@@ -116,9 +116,9 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
     Q_UNUSED(time);
     if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU))
     {
-        double xdiff = x-currentWaypointEditable->getX();
-        double ydiff = y-currentWaypointEditable->getY();
-        double zdiff = z-currentWaypointEditable->getZ();
+        double xdiff = x-currentWaypointEditable->x();
+        double ydiff = y-currentWaypointEditable->y();
+        double zdiff = z-currentWaypointEditable->z();
         double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff);
         emit waypointDistanceChanged(dist);
     }
@@ -196,37 +196,32 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id) {
 
-            MissionItem *lwp_vo = new MissionItem(
-                NULL,
-                wp->seq, wp->x,
-                wp->y,
-                wp->z,
-                wp->param1,
-                wp->param2,
-                wp->param3,
-                wp->param4,
-                wp->autocontinue,
-                wp->current,
-                (MAV_FRAME) wp->frame,
-                (MAV_CMD) wp->command);
+            MissionItem *lwp_vo = new MissionItem(NULL,
+                                                  wp->seq,
+                                                  QGeoCoordinate(wp->x, wp->y, wp->z),
+                                                  wp->param1,
+                                                  wp->param2,
+                                                  wp->param3,
+                                                  wp->param4,
+                                                  wp->autocontinue,
+                                                  wp->current,
+                                                  (MAV_FRAME) wp->frame,
+                                                  (MAV_CMD) wp->command);
 
             addWaypointViewOnly(lwp_vo);
 
             if (read_to_edit == true) {
-                MissionItem *lwp_ed = new MissionItem(
-                    NULL,
-                    wp->seq,
-                    wp->x,
-                    wp->y,
-                    wp->z,
-                    wp->param1,
-                    wp->param2,
-                    wp->param3,
-                    wp->param4,
-                    wp->autocontinue,
-                    wp->current,
-                    (MAV_FRAME) wp->frame,
-                    (MAV_CMD) wp->command);
+                MissionItem *lwp_ed = new MissionItem(NULL,
+                                                      wp->seq,
+                                                      QGeoCoordinate(wp->x, wp->y, wp->z),
+                                                      wp->param1,
+                                                      wp->param2,
+                                                      wp->param3,
+                                                      wp->param4,
+                                                      wp->autocontinue,
+                                                      wp->current,
+                                                      (MAV_FRAME) wp->frame,
+                                                      (MAV_CMD) wp->command);
                 addWaypointEditable(lwp_ed, false);
                 if (wp->current == 1) currentWaypointEditable = lwp_ed;
             }
@@ -258,20 +253,17 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
             && wp->seq < waypointsViewOnly.size() && waypointsViewOnly[wp->seq]->getAction()) {
         // accept single sent waypoints because they can contain updates about remaining DO_JUMP repetitions
         // but only update view only side
-        MissionItem *lwp_vo = new MissionItem(
-            NULL,
-            wp->seq,
-            wp->x,
-            wp->y,
-            wp->z,
-            wp->param1,
-            wp->param2,
-            wp->param3,
-            wp->param4,
-            wp->autocontinue,
-            wp->current,
-            (MAV_FRAME) wp->frame,
-            (MAV_CMD) wp->command);
+        MissionItem *lwp_vo = new MissionItem(NULL,
+                                              wp->seq,
+                                              QGeoCoordinate(wp->x, wp->y, wp->z),
+                                              wp->param1,
+                                              wp->param2,
+                                              wp->param3,
+                                              wp->param4,
+                                              wp->autocontinue,
+                                              wp->current,
+                                              (MAV_FRAME) wp->frame,
+                                              (MAV_CMD) wp->command);
 
         waypointsViewOnly.replace(wp->seq, lwp_vo);
         emit waypointViewOnlyListChanged();
@@ -386,10 +378,10 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
             // update the local main storage
             if (wpc->seq < waypointsViewOnly.size()) {
                 for(int i = 0; i < waypointsViewOnly.size(); i++) {
-                    if (waypointsViewOnly[i]->getId() == wpc->seq) {
-                        waypointsViewOnly[i]->setCurrent(true);
+                    if (waypointsViewOnly[i]->sequenceNumber() == wpc->seq) {
+                        waypointsViewOnly[i]->setIsCurrentItem(true);
                     } else {
-                        waypointsViewOnly[i]->setCurrent(false);
+                        waypointsViewOnly[i]->setIsCurrentItem(false);
                     }
                 }
             }
@@ -450,10 +442,10 @@ int UASWaypointManager::setCurrentEditable(quint16 seq)
         if(current_state == WP_IDLE) {
             //update local main storage
             for (int i = 0; i < waypointsEditable.count(); i++) {
-                if (waypointsEditable[i]->getId() == seq) {
-                    waypointsEditable[i]->setCurrent(true);
+                if (waypointsEditable[i]->sequenceNumber() == seq) {
+                    waypointsEditable[i]->setIsCurrentItem(true);
                 } else {
-                    waypointsEditable[i]->setCurrent(false);
+                    waypointsEditable[i]->setIsCurrentItem(false);
                 }
             }
 
@@ -490,10 +482,10 @@ void UASWaypointManager::addWaypointEditable(MissionItem *wp, bool enforceFirstA
             QGCMessageBox::critical(tr("MissionItem Manager"),  _offlineEditingModeMessage);
         }
 
-        wp->setId(waypointsEditable.count());
+        wp->setSequenceNumber(waypointsEditable.count());
         if (enforceFirstActive && waypointsEditable.count() == 0)
         {
-            wp->setCurrent(true);
+            wp->setIsCurrentItem(true);
             currentWaypointEditable = wp;
         }
         waypointsEditable.insert(waypointsEditable.count(), wp);
@@ -515,13 +507,13 @@ MissionItem* UASWaypointManager::createWaypoint(bool enforceFirstActive)
     }
 
     MissionItem* wp = new MissionItem();
-    wp->setId(waypointsEditable.count());
+    wp->setSequenceNumber(waypointsEditable.count());
     wp->setFrame((MAV_FRAME)getFrameRecommendation());
     wp->setAltitude(getAltitudeRecommendation());
     wp->setAcceptanceRadius(getAcceptanceRadiusRecommendation());
     if (enforceFirstActive && waypointsEditable.count() == 0)
     {
-        wp->setCurrent(true);
+        wp->setIsCurrentItem(true);
         currentWaypointEditable = wp;
     }
     waypointsEditable.append(wp);
@@ -538,15 +530,15 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
     {
         MissionItem *t = waypointsEditable[seq];
 
-        if (t->getCurrent() == true) //trying to remove the current waypoint
+        if (t->isCurrentItem() == true) //trying to remove the current waypoint
         {
             if (seq+1 < waypointsEditable.count()) // setting the next waypoint as current
             {
-                waypointsEditable[seq+1]->setCurrent(true);
+                waypointsEditable[seq+1]->setIsCurrentItem(true);
             }
             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[seq-1]->setIsCurrentItem(true);
             }
         }
 
@@ -556,7 +548,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
 
         for(int i = seq; i < waypointsEditable.count(); i++)
         {
-            waypointsEditable[i]->setId(i);
+            waypointsEditable[i]->setSequenceNumber(i);
         }
 
         emit waypointEditableListChanged();
@@ -575,7 +567,7 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
             for (int i = cur_seq; i < new_seq; i++)
             {
                 waypointsEditable[i] = waypointsEditable[i+1];
-                waypointsEditable[i]->setId(i);
+                waypointsEditable[i]->setSequenceNumber(i);
             }
         }
         else
@@ -583,11 +575,11 @@ void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
             for (int i = cur_seq; i > new_seq; i--)
             {
                 waypointsEditable[i] = waypointsEditable[i-1];
-                waypointsEditable[i]->setId(i);
+                waypointsEditable[i]->setSequenceNumber(i);
             }
         }
         waypointsEditable[new_seq] = t;
-        waypointsEditable[new_seq]->setId(new_seq);
+        waypointsEditable[new_seq]->setSequenceNumber(new_seq);
 
         emit waypointEditableListChanged();
         emit waypointEditableListChanged(uasid);
@@ -607,7 +599,7 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile)
 
     for (int i = 0; i < waypointsEditable.count(); i++)
     {
-        waypointsEditable[i]->setId(i);
+        waypointsEditable[i]->setSequenceNumber(i);
         waypointsEditable[i]->save(out);
     }
     file.close();
@@ -642,7 +634,7 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
             {
               //Use the existing function to add waypoints to the map instead of doing it manually
               //Indeed, we should connect our waypoints to the map in order to synchronize them
-              //t->setId(waypointsEditable.count());
+              //t->setSequenceNumber(waypointsEditable.count());
               // waypointsEditable.insert(waypointsEditable.count(), t);
               addWaypointEditable(t, false);
             }
@@ -956,9 +948,9 @@ void UASWaypointManager::goToWaypoint(MissionItem *wp)
         mission.frame = wp->getFrame();
         mission.command = wp->getAction();
         mission.seq = 0;     // don't read out the sequence number of the waypoint class
-        mission.x = wp->getX();
-        mission.y = wp->getY();
-        mission.z = wp->getZ();
+        mission.x = wp->x();
+        mission.y = wp->y();
+        mission.z = wp->z();
         mavlink_message_t message;
         mission.target_system = uasid;
         mission.target_component = MAV_COMP_ID_MISSIONPLANNER;
@@ -1001,7 +993,7 @@ void UASWaypointManager::writeWaypoints()
                 const MissionItem *cur_s = waypointsEditable.at(i);
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
-                cur_d->current = cur_s->getCurrent() & noCurrent;   //make sure only one current waypoint is selected, the first selected will be chosen
+                cur_d->current = cur_s->isCurrentItem() & noCurrent;   //make sure only one current waypoint is selected, the first selected will be chosen
                 cur_d->param1 = cur_s->getParam1();
                 cur_d->param2 = cur_s->getParam2();
                 cur_d->param3 = cur_s->getParam3();
@@ -1009,11 +1001,11 @@ void UASWaypointManager::writeWaypoints()
                 cur_d->frame = cur_s->getFrame();
                 cur_d->command = cur_s->getAction();
                 cur_d->seq = i;     // don't read out the sequence number of the waypoint class
-                cur_d->x = cur_s->getX();
-                cur_d->y = cur_s->getY();
-                cur_d->z = cur_s->getZ();
+                cur_d->x = cur_s->x();
+                cur_d->y = cur_s->y();
+                cur_d->z = cur_s->z();
 
-                if (cur_s->getCurrent() && noCurrent)
+                if (cur_s->isCurrentItem() && noCurrent)
                     noCurrent = false;
                 if (i == (current_count - 1) && noCurrent == true) //not a single waypoint was set as "current"
                     cur_d->current = true; // set the last waypoint as current. Or should it better be the first waypoint ?
@@ -1162,7 +1154,7 @@ UAS* UASWaypointManager::getUAS() {
 float UASWaypointManager::getAltitudeRecommendation()
 {
     if (waypointsEditable.count() > 0) {
-        return waypointsEditable.last()->getAltitude();
+        return waypointsEditable.last()->altitude();
     } else {
         return HomePositionManager::instance()->getHomeAltitude() + getHomeAltitudeOffsetDefault();
     }

src/ui/HSIDisplay.cc

@@ -1313,7 +1313,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt
 
     float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
     float acceptRadius = w->getAcceptanceRadius();
-    double yawDiff = w->getYaw()/180.0*M_PI-yaw;
+    double yawDiff = w->yaw()/180.0*M_PI-yaw;
 
     // Draw background
     pen.setColor(Qt::black);
@@ -1356,11 +1356,11 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             int frameRef = w->getFrame();
             if (frameRef == MAV_FRAME_LOCAL_NED)
             {
-                in = QPointF(w->getX(), w->getY());
+                in = QPointF(w->x(), w->y());
             }
             else if (frameRef == MAV_FRAME_LOCAL_ENU)
             {
-                in = QPointF(w->getY(), w->getX());
+                in = QPointF(w->y(), w->x());
             }
             // Convert global coordinates into the local ENU frame, then display them.
             else if (frameRef == MAV_FRAME_GLOBAL || frameRef == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -1368,7 +1368,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 
                 // Transform the lat/lon for this waypoint into the local frame
                 double e, n, u;
-                HomePositionManager::instance()->wgs84ToEnu(w->getX(), w->getY(),w->getZ(), &e, &n, &u);
+                HomePositionManager::instance()->wgs84ToEnu(w->x(), w->y(),w->z(), &e, &n, &u);
                 in = QPointF(n, e);
             }
             // Otherwise we don't process this waypoint.
@@ -1383,7 +1383,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             QPointF p = metricBodyToRef(in);
 
             // Select color based on if this is the current waypoint.
-            if (w->getCurrent())
+            if (w->isCurrentItem())
             {
                 drawWaypoint(painter, QGC::colorYellow, refLineWidthToPen(0.8f), w, p);
             }

src/ui/MainWindow.cc

@@ -72,6 +72,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MultiVehicleManager.h"
 #include "CustomCommandWidget.h"
 #include "HomePositionManager.h"
+#include "MissionEditor.h"
 
 #ifdef UNITTEST_BUILD
 #include "QmlControls/QmlTestWidget.h"
@@ -425,6 +426,14 @@ void MainWindow::_buildPlanView(void)
     }
 }
 
+void MainWindow::_buildMissionEditorView(void)
+{
+    if (!_missionEditorView) {
+        _missionEditorView = new MissionEditor(this);
+        _missionEditorView->setVisible(false);
+    }
+}
+
 void MainWindow::_buildFlightView(void)
 {
     if (!_flightView) {
@@ -700,6 +709,7 @@ void MainWindow::connectCommonActions()
     perspectives->addAction(_ui.actionFlight);
     perspectives->addAction(_ui.actionSimulationView);
     perspectives->addAction(_ui.actionPlan);
+    perspectives->addAction(_ui.actionMissionEditor);
     perspectives->addAction(_ui.actionSetup);
     perspectives->setExclusive(true);
 
@@ -724,6 +734,11 @@ void MainWindow::connectCommonActions()
         _ui.actionPlan->setChecked(true);
         _ui.actionPlan->activate(QAction::Trigger);
     }
+    if (_currentView == VIEW_MISSIONEDITOR)
+    {
+        _ui.actionMissionEditor->setChecked(true);
+        _ui.actionMissionEditor->activate(QAction::Trigger);
+    }
     if (_currentView == VIEW_SETUP)
     {
         _ui.actionSetup->setChecked(true);
@@ -738,11 +753,12 @@ void MainWindow::connectCommonActions()
     connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MainWindow::_vehicleRemoved);
 
     // Views actions
-    connect(_ui.actionFlight, SIGNAL(triggered()), this, SLOT(loadFlightView()));
-    connect(_ui.actionSimulationView, SIGNAL(triggered()), this, SLOT(loadSimulationView()));
-    connect(_ui.actionAnalyze, SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
-    connect(_ui.actionPlan, SIGNAL(triggered()), this, SLOT(loadPlanView()));
-
+    connect(_ui.actionFlight,           SIGNAL(triggered()), this, SLOT(loadFlightView()));
+    connect(_ui.actionSimulationView,   SIGNAL(triggered()), this, SLOT(loadSimulationView()));
+    connect(_ui.actionAnalyze,          SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
+    connect(_ui.actionPlan,             SIGNAL(triggered()), this, SLOT(loadPlanView()));
+    connect(_ui.actionMissionEditor,    SIGNAL(triggered()), this, SLOT(loadMissionEditorView()));
+    
     // Help Actions
     connect(_ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
     connect(_ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
@@ -891,6 +907,11 @@ void MainWindow::_loadCurrentViewState(void)
             defaultWidgets = "WAYPOINT_LIST_DOCKWIDGET";
             break;
 
+        case VIEW_MISSIONEDITOR:
+            _buildMissionEditorView();
+            centerView = _missionEditorView;
+            break;
+
         case VIEW_SIMULATION:
             _buildSimView();
             centerView = _simView;
@@ -993,6 +1014,17 @@ void MainWindow::loadPlanView()
     }
 }
 
+void MainWindow::loadMissionEditorView()
+{
+    if (_currentView != VIEW_MISSIONEDITOR)
+    {
+        _storeCurrentViewState();
+        _currentView = VIEW_MISSIONEDITOR;
+        _ui.actionMissionEditor->setChecked(true);
+        _loadCurrentViewState();
+    }
+}
+
 void MainWindow::loadSetupView()
 {
     if (_currentView != VIEW_SETUP)

src/ui/MainWindow.h

@@ -130,17 +130,13 @@ public slots:
     /** @brief Show the application settings */
     void showSettings();
 
-    /** @brief Load configuration views */
     void loadSetupView();
-    /** @brief Load view for pilot */
     void loadFlightView();
-    /** @brief Load view for simulation */
     void loadSimulationView();
-    /** @brief Load view for engineer */
     void loadAnalyzeView();
-    /** @brief Load New (QtQuick) Map View (Mission) */
     void loadPlanView();
-    /** @brief Manage Links */
+    void loadMissionEditorView();
+    
     void manageLinks();
 
     /** @brief Show the online help for users */
@@ -204,12 +200,13 @@ protected:
     typedef enum _VIEW_SECTIONS
     {
         VIEW_ANALYZE,           // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
-        VIEW_PLAN,              // New (QtQuick) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
+        VIEW_PLAN,              // Old mission editor
         VIEW_FLIGHT,            // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
         VIEW_SIMULATION,        // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
         VIEW_SETUP,             // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
         VIEW_UNUSED1,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_UNUSED2,           // Unused (don't remove, or it will screw up saved settigns indices)
+        VIEW_MISSIONEDITOR,     // New mission editor
     } VIEW_SECTIONS;
 
     /** @brief Catch window resize events */
@@ -288,6 +285,7 @@ private:
     QPointer<QWidget> _analyzeView;
     QPointer<QWidget> _simView;
     QPointer<QWidget> _terminalView;
+    QPointer<QWidget> _missionEditorView;
 
     // Dock widget names
     static const char* _uasControlDockWidgetName;
@@ -316,6 +314,7 @@ private:
     void _buildAnalyzeView(void);
     void _buildSimView(void);
     void _buildTerminalView(void);
+    void _buildMissionEditorView(void);
 
     void _storeCurrentViewState(void);
     void _loadCurrentViewState(void);
@@ -344,7 +343,6 @@ private:
 
     QString _getWindowStateKey();
     QString _getWindowGeometryKey();
-
 };
 
 #endif /* _MAINWINDOW_H_ */