Consolidated merged state from lm, Lionel, malife and godbolt. Tested and supposedly stable.

lib/QMapControl/src/layer.cpp

@@ -97,6 +97,36 @@ namespace qmapcontrol
         geometries.clear();
     }
 
+    Geometry* Layer::get_Geometry(int index)
+    {
+        if(geometrySelected)
+        {
+            return geometrySelected;
+        }
+        else
+        {
+            for(int i = 0; i <= geometries.size(); i++)
+            {
+                Geometry *geometry = geometries[i];
+                if(geometry->name() == QString::number(index))
+                {
+                  return geometry;
+                }
+            }
+
+//           foreach(Geometry *geometry, geometries)
+//           {
+
+//               if(geometry->name() == QString::number(index))
+//               {
+//                   return geometry;
+//               }
+
+//           }
+        }
+
+    }
+
     bool Layer::isVisible() const
     {
         return visible;
@@ -323,3 +353,5 @@ namespace qmapcontrol
         mapAdapter = mapadapter;
     }
 }
+
+

lib/QMapControl/src/layer.h

@@ -200,6 +200,12 @@ namespace qmapcontrol
          */
         void setVisible(bool visible);
 
+        //! get geometry selected by index
+        /*!
+         * @param  index of geometry selected
+         */
+         Geometry* get_Geometry(int index);
+
     };
 }
 #endif

lib/QMapControl/src/mapcontrol.cpp

@@ -309,6 +309,7 @@ namespace qmapcontrol
                                       click.y()-screen_middle.y()+layermanager->getMapmiddle_px().y());
         // image coordinate to world coordinate
         return layermanager->layer()->mapadapter()->displayToCoordinate(displayToImage);
+
     }
 
     void MapControl::updateRequest(QRect rect)

qgroundcontrol.pro

@@ -159,7 +159,6 @@ HEADERS += src/MG.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/QGCRemoteControlView.h \
-    src/WaypointGlobal.h \
     src/ui/WaypointGlobalView.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/CheetahModel.h \
@@ -233,8 +232,7 @@ SOURCES += src/main.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/MAV2DIcon.cc \
     src/ui/QGCRemoteControlView.cc \
-    src/WaypointGlobal.cpp \
-    src/ui/WaypointGlobalView.cpp \
+    src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/CheetahModel.cc \
     src/ui/map3D/CheetahGL.cc \

src/Waypoint.h

@@ -81,6 +81,7 @@ public slots:
     void setOrbit(float orbit);
     void setHoldTime(int holdTime);
 
+
     //for QDoubleSpin
     void setX(double x);
     void setY(double y);

src/WaypointGlobal.cpp

-#include "WaypointGlobal.h"
-
-#include <QPointF>
-
-WaypointGlobal::WaypointGlobal(const QPointF coordinate):
-         Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime)
-{
-    coordinateWP = coordinate;
-
-}

src/WaypointGlobal.h

-#ifndef WAYPOINTGLOBAL_H
-#define WAYPOINTGLOBAL_H
-
-#include "Waypoint.h"
-#include <QPointF>
-
-class WaypointGlobal: public Waypoint {
-    Q_OBJECT
-
-public:
-    WaypointGlobal(const QPointF coordinate);
-
-    public slots:
-
-//    void set_latitud(double latitud);
-//    void set_longitud(double longitud);
-//    double get_latitud();
-//    double get_longitud();
-
-private:
-    QPointF coordinateWP;
-
-
-
-
-
-};
-
-#endif // WAYPOINTGLOBAL_H

src/uas/SlugsMAV.cc

@@ -53,7 +53,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         }
 
-#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
 
     case MAVLINK_MSG_ID_CPU_LOAD:
         {

src/ui/MainWindow.cc

@@ -171,6 +171,9 @@ void MainWindow::buildWidgets()
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
 
+    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
+    headUpDockWidget->setWidget( new HUD(320, 240, this));
+
     // Dialogue widgets
     //FIXME: free memory in destructor
     joystick    = new JoystickInput();
@@ -203,8 +206,13 @@ void MainWindow::connectWidgets()
         // add Waypoint widget in the WaypointList widget when mouse clicked
         connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
         // it notifies that a waypoint global goes to do create
-        connect(mapWidget, SIGNAL(createGlobalWP(bool)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool)));
+        connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
         connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
+
+        // it notifies that a waypoint global goes to do create and a map graphic too
+        connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
+        // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
+        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
     }
 }
 
@@ -213,7 +221,6 @@ void MainWindow::arrangeCenterStack()
 
     QStackedWidget *centerStack = new QStackedWidget(this);
     if (!centerStack) return;
-
     if (linechartWidget) centerStack->addWidget(linechartWidget);
     if (protocolWidget) centerStack->addWidget(protocolWidget);
     if (mapWidget) centerStack->addWidget(mapWidget);
@@ -362,7 +369,7 @@ void MainWindow::connectActions()
     connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
     connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
     connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
-
+    connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
     connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
     connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
     connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
@@ -808,6 +815,7 @@ void MainWindow::loadOperatorView()
             centerStack->setCurrentWidget(mapWidget);
         }
     }
+
     // UAS CONTROL
     if (controlDockWidget)
     {
@@ -865,6 +873,83 @@ void MainWindow::loadOperatorView()
     this->show();
 }
 
+void MainWindow::loadGlobalOperatorView()
+{
+    clearView();
+
+    // MAP
+    if (mapWidget)
+    {
+        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+        if (centerStack)
+        {
+            centerStack->setCurrentWidget(mapWidget);
+        }
+    }
+
+    // UAS CONTROL
+    if (controlDockWidget)
+    {
+        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
+        controlDockWidget->show();
+    }
+
+    // UAS LIST
+    if (listDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
+        listDockWidget->show();
+    }
+
+    // UAS STATUS
+    if (infoDockWidget)
+    {
+        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
+        infoDockWidget->show();
+    }
+
+    // WAYPOINT LIST
+    if (waypointsDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
+        waypointsDockWidget->show();
+    }
+
+//    // HORIZONTAL SITUATION INDICATOR
+//    if (hsiDockWidget)
+//    {
+//        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
+//        if (hsi)
+//        {
+//            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
+//            hsiDockWidget->show();
+//            hsi->start();
+//        }
+//    }
+
+    // PROCESS CONTROL
+    if (watchdogControlDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
+        watchdogControlDockWidget->show();
+    }
+
+    // HEAD UP DISPLAY
+    if (headUpDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, headUpDockWidget);
+        // FIXME Replace with default ->show() call
+        HUD* hud = dynamic_cast<HUD*>(headUpDockWidget->widget());
+
+        if (hud)
+        {
+            headUpDockWidget->show();
+            hud->start();
+        }
+    }
+
+}
+
 void MainWindow::load3DView()
 {
             clearView();

src/ui/MainWindow.h

@@ -122,6 +122,8 @@ public slots:
     void loadDataView();
     /** @brief Load data view, allowing to plot flight data */
     void loadDataView(QString fileName);
+    /** @brief Load view for global operator, allowing to flight on earth */
+    void loadGlobalOperatorView();
 
     /** @brief Show the online help for users */
     void showHelp();
@@ -174,6 +176,7 @@ protected:
     QPointer<QDockWidget> headDown1DockWidget;
     QPointer<QDockWidget> headDown2DockWidget;
     QPointer<QDockWidget> watchdogControlDockWidget;
+    QPointer<QDockWidget> headUpDockWidget;
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
 

src/ui/MainWindow.ui

@@ -76,6 +76,7 @@
     <addaction name="actionPilotView"/>
     <addaction name="actionOperatorView"/>
     <addaction name="action3DView"/>
+    <addaction name="actionGlobalOperatorView"/>
     <addaction name="separator"/>
     <addaction name="actionShow_MAVLink_view"/>
     <addaction name="actionShow_data_analysis_view"/>
@@ -308,6 +309,15 @@
     <string>Credits / Developers</string>
    </property>
   </action>
+  <action name="actionGlobalOperatorView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show Global operator view</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.cc

@@ -47,10 +47,13 @@ MapWidget::MapWidget(QWidget *parent) :
         zoomLevel(0),
         uasIcons(),
         uasTrails(),
+        mav(NULL),
         m_ui(new Ui::MapWidget)
 {
     m_ui->setupUi(this);
 
+    waypointIsDrag = false;
+
     // Accept focus by clicking or keyboard
     this->setFocusPolicy(Qt::StrongFocus);
 
@@ -314,8 +317,9 @@ void MapWidget::createPathButtonClicked(bool checked)
         this->setCursor(Qt::PointingHandCursor);
         mc->setMouseMode(qmapcontrol::MapControl::None);
 
+
         // emit signal start to create a Waypoint global
-        emit createGlobalWP(true);
+        emit createGlobalWP(true, mc->currentCoordinate());
 
 //        // Clear the previous WP track
 //        // TODO: Move this to an actual clear track button and add a warning dialog
@@ -337,9 +341,11 @@ void MapWidget::createPathButtonClicked(bool checked)
 }
 
 
-void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate){
+void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
+{
 
-  if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked()){
+  if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
+    {
     // Create waypoint name
     QString str;
 
@@ -373,18 +379,45 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
   }
 }
 
-void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
+void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
+{
+    // Create waypoint name
+    QString str;
+
+    str = QString("%1").arg(path->numberOfPoints());
+
+    // create the WP and set everything in the LineString to display the path
+    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    mc->layer("Waypoints")->addGeometry(tempCirclePoint);
+
+    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+    wps.append(tempPoint);
+    path->addPoint(tempPoint);
+
+    wpIndex.insert(str,tempPoint);
+
+    // Refresh the screen
+    mc->updateRequestNew();
+
+////    // emit signal mouse was clicked
+//    emit captureMapCoordinateClick(coordinate);
+}
+
+void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
+{
   Q_UNUSED(geom);
   Q_UNUSED(point);
 
   mc->setMouseMode(qmapcontrol::MapControl::None);
 
-
 }
 
-void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
+void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
+{
   Q_UNUSED(coordinate);
 
+  waypointIsDrag = true;
+
   // Refresh the screen
   mc->updateRequestNew();
 
@@ -412,6 +445,7 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
 
 void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
 {
+    waypointIsDrag = false;
 
     mc->setMouseMode(qmapcontrol::MapControl::Panning);
 
@@ -603,10 +637,35 @@ void MapWidget::clearPath()
     wpIndex.clear();
     mc->updateRequestNew();
 
-    // si el boton de crear wp globales esta activo desactivarlo llamando a su evento clicket
+
     if(createPath->isChecked())
     {
         createPath->click();
     }
 
 }
+
+void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
+{
+    if(!waypointIsDrag)
+    {
+        qDebug() <<"indice WP= "<<index <<"\n";
+
+        QPointF coordinate;
+        coordinate.setX(lon);
+        coordinate.setY(lat);
+
+        Point* point2Find;
+        point2Find = wpIndex[QString::number(index)];
+        point2Find->setCoordinate(coordinate);
+
+        point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(index));
+        point2Find->setCoordinate(coordinate);
+
+        // Refresh the screen
+        mc->updateRequestNew();
+   }
+
+
+}
+

src/ui/MapWidget.h

@@ -66,6 +66,7 @@ public slots:
 
     //ROCA
     void clearPath();
+    void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
 
 protected:
     void changeEvent(QEvent* e);
@@ -106,6 +107,7 @@ protected:
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
+    void createWaypointGraphAtMap (const QPointF coordinate);
     void createPathButtonClicked(bool checked);
     void captureGeometryClick(Geometry*, QPoint);
     void mapproviderSelected(QAction* action);
@@ -114,10 +116,11 @@ protected:
 
 
 
+
   signals:
     //void movePoint(QPointF newCoord);
     void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    void createGlobalWP(bool value);
+    void createGlobalWP(bool value, QPointF centerCoordinate);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
 
@@ -127,6 +130,7 @@ private:
     QHash <QString, qmapcontrol::Point*> wpIndex;
     qmapcontrol::LineString* path;
     QPen* pointPen;
+    bool waypointIsDrag;
 };
 
 #endif // MAPWIDGET_H

src/ui/WaypointGlobalView.cpp → src/ui/WaypointGlobalView.cc

@@ -12,14 +12,30 @@ WaypointGlobalView::WaypointGlobalView(Waypoint* wp,QWidget *parent) :
 
     ui->m_orbitalSpinBox->hide();
 
+    // Read values and set user interface
+    updateValues();
+
     connect(ui->m_orbitalSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
     connect(ui->m_heigthSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
-    connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+    //for spinBox Latitude
+    connect(ui->m_latitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLatitudeWP(int)));
+    connect(ui->m_latitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLatitudeMinuteWP(double)));
+    connect(ui->m_dirLatitudeN_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
+    connect(ui->m_dirLatitudeS_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
+
+    //for spinBox Longitude
+    connect(ui->m_longitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLongitudeWP(int)));
+    connect(ui->m_longitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLongitudeMinuteWP(double)));
+    connect(ui->m_dirLongitudeW_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
+    connect(ui->m_dirLongitudeE_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
+
+
+
+   connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+
 
 
-    // Read values and set user interface
-    updateValues();
 
 
 //    connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
@@ -48,9 +64,46 @@ WaypointGlobalView::~WaypointGlobalView()
 
 void WaypointGlobalView::updateValues()
 {
-    ui->m_latitudtextEdit->setText(getLatitudString(wp->getY()));
-    ui->m_longitudtextEdit->setText(getLongitudString(wp->getX()));
-    ui->idWP_label->setText(QString("%1").arg(wp->getId()));\
+
+            int gradoLat, gradoLon;
+            float minLat, minLon;
+            QString dirLat, dirLon;
+
+            getLatitudeGradoMin(wp->getY(), &gradoLat, &minLat, &dirLat);
+            getLongitudGradoMin(wp->getX(), &gradoLon, &minLon, &dirLon);
+
+            //latitude on spinBox
+            ui->m_latitudGrados_spinBox->setValue(gradoLat);
+            ui->m_latitudMinutos_spinBox->setValue(minLat);
+            if(dirLat == "N")
+            {
+                ui->m_dirLatitudeN_radioButton->setChecked(true);
+                ui->m_dirLatitudeS_radioButton->setChecked(false);
+            }
+            else
+            {
+                ui->m_dirLatitudeS_radioButton->setChecked(true);
+                ui->m_dirLatitudeN_radioButton->setChecked(false);
+
+            }
+
+             //longitude on spinBox
+            ui->m_longitudGrados_spinBox->setValue(gradoLon);
+            ui->m_longitudMinutos_spinBox->setValue(minLon);
+            if(dirLon == "W")
+            {
+                ui->m_dirLongitudeW_radioButton->setChecked(true);
+                ui->m_dirLongitudeE_radioButton->setChecked(false);
+            }
+            else
+            {
+               ui->m_dirLongitudeE_radioButton->setChecked(true);
+               ui->m_dirLongitudeW_radioButton->setChecked(false);
+
+            }
+
+            ui->idWP_label->setText(QString("WP-%1").arg(wp->getId()));
+
 
 }
 
@@ -152,4 +205,258 @@ void WaypointGlobalView::changeOrbitalState(int state)
     }
 }
 
+void WaypointGlobalView::getLatitudeGradoMin(float latitud, int *gradoLat, float *minLat, QString *dirLat)
+{
+
+   float minutos = 0;
+   float grados = 0;
+   float entero = 0;
+   float dec = 0;
+
+   if (latitud<0){*dirLat="S"; latitud = latitud * -1;}
+   else {*dirLat="N";}
+
+   if(latitud< 90 || latitud > -90)
+   {
+       dec = latitud - (entero = ::floor(latitud));;
+        minutos = dec * 60;
+        grados = entero;
+        if(grados < 0) grados = grados * (-1);
+        if(minutos < 0) minutos = minutos * (-1);
+
+        *gradoLat = grados;
+        *minLat = minutos;
+
+
+   }
+   else
+   {
+       *gradoLat = -1;
+       *minLat = -1;
+       *dirLat="N/A";
+
+   }
+
+}
+
+void WaypointGlobalView::getLongitudGradoMin(float longitud, int *gradoLon, float *minLon, QString *dirLon)
+{
+
+    float minutos = 0;
+    float grados = 0;
+    float entero = 0;
+    float dec = 0;
+
+    if (longitud<0){*dirLon="W"; longitud = longitud * -1;}
+    else {*dirLon="E";}
+
+    if(longitud<180 || longitud > -180)
+    {
+        dec = longitud - (entero = ::floor(longitud));;
+         minutos = dec * 60;
+         grados = entero;
+         if(grados < 0) grados = grados * (-1);
+         if(minutos < 0) minutos = minutos * (-1);
+
+         *gradoLon = grados;
+         *minLon = minutos;
+
+    }
+    else
+    {
+        *gradoLon = -1;
+        *minLon = -1;
+        *dirLon="N/A";
+    }
+}
+
+void WaypointGlobalView::updateCoordValues(float lat, float lon)
+{
+
+}
+
+void WaypointGlobalView::updateLatitudeWP(int value)
+{
+    Q_UNUSED(value);
+
+
+    int gradoLat;
+    float minLat;
+    float Latitud;
+    QString dirLat;
+
+    gradoLat = ui->m_latitudGrados_spinBox->value();
+    minLat = ui->m_latitudMinutos_spinBox->value();
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        dirLat = "N";
+    }
+    else
+    {
+        dirLat = "S";
+    }
+    //dirLat = ui->m_dirLatitud_label->text();
+
+    Latitud = gradoLat + (minLat/60);
+    if(dirLat == "S"){Latitud = Latitud * -1;}
+
+    wp->setY(Latitud);
+
+    //emit signal waypoint position was changed
+
+    emit changePositionWP(wp);
+
+}
+
+void WaypointGlobalView::updateLatitudeMinuteWP(double value)
+{
+    Q_UNUSED(value);
+
+    int gradoLat;
+    float minLat;
+    float Latitud;
+    QString dirLat;
+
+    gradoLat = ui->m_latitudGrados_spinBox->value();
+    minLat = ui->m_latitudMinutos_spinBox->value();
+    //dirLat = ui->m_dirLatitud_label->text();
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        dirLat = "N";
+    }
+    else
+    {
+        dirLat = "S";
+    }
+
+    Latitud = gradoLat + (minLat/60);
+    if(dirLat == "S"){Latitud = Latitud * -1;}
+
+    wp->setY(Latitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+
+}
+
+void WaypointGlobalView::updateLongitudeWP(int value)
+{
+    Q_UNUSED(value);
+
+    int gradoLon;
+    float minLon;
+    float Longitud;
+    QString dirLon;
+
+    gradoLon = ui->m_longitudGrados_spinBox->value();
+    minLon = ui->m_longitudMinutos_spinBox->value();
+   // dirLon = ui->m_dirLongitud_label->text();
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        dirLon = "W";
+    }
+    else
+    {
+        dirLon = "E";
+    }
+
+    Longitud = gradoLon + (minLon/60);
+    if(dirLon == "W"){Longitud = Longitud * -1;}
+
+    wp->setX(Longitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+
+}
+
+
+
+void WaypointGlobalView::updateLongitudeMinuteWP(double value)
+{
+    Q_UNUSED(value);
+
+    int gradoLon;
+    float minLon;
+    float Longitud;
+    QString dirLon;
+
+    gradoLon = ui->m_longitudGrados_spinBox->value();
+    minLon = ui->m_longitudMinutos_spinBox->value();
+   // dirLon = ui->m_dirLongitud_label->text();
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        dirLon = "W";
+    }
+    else
+    {
+        dirLon = "E";
+    }
+
+    Longitud = gradoLon + (minLon/60);
+    if(dirLon == "W"){Longitud = Longitud * -1;}
+
+    wp->setX(Longitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+}
+
+void WaypointGlobalView::changeDirectionLatitudeWP()
+{
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        if(wp->getY() < 0)
+        {
+            wp->setY(wp->getY()* -1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+        }
+
+    }
+    if(ui->m_dirLatitudeS_radioButton->isChecked())
+    {
+        if(wp->getY() > 0)
+        {
+            wp->setY(wp->getY()*-1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+
+        }
+
+    }
+
+}
+
+void WaypointGlobalView::changeDirectionLongitudeWP()
+{
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        if(wp->getX() > 0)
+        {
+           wp->setX(wp->getX()*-1);
+           //emit signal waypoint position was changed
+           emit changePositionWP(wp);
+        }
+
+    }
+
+    if(ui->m_dirLongitudeE_radioButton->isChecked())
+    {
+        if(wp->getX() < 0)
+        {
+            wp->setX(wp->getX()*-1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+        }
+
+    }
+
+
+
+}
+
 

src/ui/WaypointGlobalView.h

@@ -22,12 +22,30 @@ public slots:
     void remove();
     QString getLatitudString(float lat);
     QString getLongitudString(float lon);
+    void getLatitudeGradoMin(float lat, int *gradoLat, float *minLat, QString *dirLat);
+    void getLongitudGradoMin(float lon, int *gradoLon, float *minLon, QString *dirLon);
      void changeOrbitalState(int state);
+     void updateCoordValues(float lat, float lon);
+
+
+
+    //update latitude
+     void updateLatitudeWP(int value);
+     void updateLatitudeMinuteWP(double value);
+     void changeDirectionLatitudeWP();
+
+     //update longitude
+     void updateLongitudeWP(int value);
+     void updateLongitudeMinuteWP(double value);
+     void changeDirectionLongitudeWP();
+
 
 
 signals:
 
     void removeWaypoint(Waypoint*);
+    void changePositionWP(Waypoint*);
+
 
 protected:
     virtual void changeEvent(QEvent *e);

src/ui/WaypointList.cc

@@ -39,6 +39,7 @@ This file is part of the PIXHAWK project
 #include <QFileDialog>
 #include "WaypointGlobalView.h"
 #include <QMessageBox>
+#include <QMouseEvent>
 
 WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
         QWidget(parent),
@@ -90,6 +91,9 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     this->setVisible(false);
     isGlobalWP = false;
     isLocalWP = false;
+    centerMapCoordinate.setX(0.0);
+    centerMapCoordinate.setY(0.0);
+
 }
 
 WaypointList::~WaypointList()
@@ -168,24 +172,44 @@ void WaypointList::add()
 {
     if (uas)
     {
-
+        if(isGlobalWP)
+        {
             const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
             if (waypoints.size() > 0)
             {
                 Waypoint *last = waypoints.at(waypoints.size()-1);
-                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
             else
             {
-                Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
 
-            isLocalWP = true;
+             emit createWaypointAtMap(centerMapCoordinate);
+        }
+        else
+        {
+
+            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            if (waypoints.size() > 0)
+            {
+                Waypoint *last = waypoints.at(waypoints.size()-1);
+                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+            else
+            {
+
 
+                    isLocalWP = true;
+                    Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                    uas->getWaypointManager().localAddWaypoint(wp);
 
 
+            }
+        }
     }
 }
 
@@ -301,9 +325,11 @@ void WaypointList::waypointListChanged()
                     {
                         WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
                         wpGlobalViews.insert(wp, wpview);
+                        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
+                        connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
 //                        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(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
 //                        connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
 //                        connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
                     }
@@ -498,13 +524,16 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
             Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
             uas->getWaypointManager().localAddWaypoint(wp);
         }
+
+
     }
 
 }
 
- /** @brief it notifies that a global waypoint goes to do created */
-void WaypointList::setIsWPGlobal(bool value)
+ /** @brief Notifies the user that a global waypoint will be created */
+void WaypointList::setIsWPGlobal(bool value, QPointF centerCoordinate)
 {
+    centerMapCoordinate = centerCoordinate;
 
 
     if(isLocalWP)
@@ -512,18 +541,21 @@ void WaypointList::setIsWPGlobal(bool value)
         if(wpViews.size()!= 0)
         {
 
-            int ret = QMessageBox::warning(this, tr("My Application"),
-                                    tr("There are Waypoints local created.\n"
+            int ret = QMessageBox::warning(this, tr("QGroundControl"),
+                                    tr("There are Local Waypoints created.\n"
                                        "Do you want to clear them?"),
                                     QMessageBox::Ok | QMessageBox::Cancel);
 
             if(ret)
             {
                 clearLocalWPWidget();
-                isGlobalWP = value;
-                isLocalWP = !(value);
+
+
             }
+
         }
+        isLocalWP = !value;
+        isGlobalWP = value;
 
 
     }
@@ -556,6 +588,19 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
 
 }
 
+///** @brief The MapWidget informs that a waypoint global was changed on the map */
+
+//void WaypointList::waypointGlobalPositionChanged(Waypoint* wp)
+//{
+//    QPointF coordinate;
+//    coordinate.setX(wp->getX());
+//    coordinate.setY(wp->getY());
+
+//   emit ChangeWaypointGlobalPosition(wp->getId(), coordinate);
+
+
+//}
+
 void WaypointList::clearLocalWPWidget()
 {
   if (uas)
@@ -571,3 +616,9 @@ void WaypointList::clearLocalWPWidget()
       }
   }
 }
+
+void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
+{
+
+    emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
+}

src/ui/WaypointList.h

@@ -77,7 +77,7 @@ public slots:
     /** @brief Add a waypoint by mouse click over the map */
     void addWaypointMouse(QPointF coordinate);
     /** @brief it notifies that a global waypoint goes to do created */
-    void setIsWPGlobal(bool value);
+    void setIsWPGlobal(bool value, QPointF centerCoordinate);
 
 
     //Update events
@@ -95,6 +95,8 @@ public slots:
 
     void clearLocalWPWidget();
 
+    void changeWPPositionBySpinBox(Waypoint* wp);
+
     // Waypoint operations
     void moveUp(Waypoint* wp);
     void moveDown(Waypoint* wp);
@@ -105,6 +107,9 @@ public slots:
 
 signals:
   void clearPathclicked();
+  void createWaypointAtMap(const QPointF coordinate);
+ // void ChangeWaypointGlobalPosition(int index, QPointF coord);
+  void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
 
 
 
@@ -122,6 +127,7 @@ protected:
     double mavYaw;
     bool isGlobalWP;
     bool isLocalWP;
+    QPointF centerMapCoordinate;
 
 private:
     Ui::WaypointList *m_ui;