Implemented moving the home location

images/earth.html

@@ -23,12 +23,17 @@ var lastAlt = 0;
 var currLat = 47.3769;
 var currLon = 8.549444;
 var currAlt = 470;
+
+var currentCameraLatitude = 0;
+var currentCameraLongitude = 0;
+var currentCameraAltitude = 0;
+
 var currFollowHeading = 0.0;
 
 var homeLat = 0;
 var homeLon = 0;
 var homeAlt = 0;
-var homeViewRange = 500;
+var homeViewRange = 800;
 var homeLocation = null;
 var homeGroundLevel = 0;
 
@@ -85,6 +90,8 @@ var newWaypointLongitude = 0;
 var newWaypointAltitude = 0;
 var newWaypointPending = false;
 
+var clickMode = 0;
+
 var homePlacemark = null;
 
 function getGlobal(variable)
@@ -107,6 +114,28 @@ function setDraggingAllowed(allowed)
 	draggingAllowed = allowed;
 }
 
+function sampleCurrentPosition()
+{
+    var thisView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currentCameraLatitude = thisView.getLatitude();
+	currentCameraLongitude = thisView.getLongitude();
+	currentCameraGroundAltitude = ge.getGlobe().getGroundAltitude(currentCameraLatitude, currentCameraLongitude);
+}
+
+function enableSetHomeMode()
+{
+	clickMode = 1;
+}
+
+function setLookAtLatLon(lat, lon)
+{
+	// Keep the current altitude above ground, just move the position
+	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_RELATIVE_TO_GROUND);
+	currView.setLatitude(lat);
+	currView.setLongitude(lon);
+	ge.getView().setAbstractView(currView);
+}
+
 function setNewWaypointPending(pending)
 {
 	newWaypointPending = pending;
@@ -140,16 +169,35 @@ function enableEventListener()
 // listen for mousedown on the window (look specifically for point placemarks)
 google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
 {
+if (clickMode == 1)
+    {
+    	// Set home mode
+    	dragWaypointIndex = 'HOME';
+    	document.getElementById('JScript_dragWaypointIndex').setAttribute('value',dragWaypointIndex);
+		dragWaypointLatitude = event.getLatitude();
+		dragWaypointLongitude = event.getLongitude();
+		dragWaypointAltitude = ge.getGlobe().getGroundAltitude(dragWaypointLatitude, dragWaypointLongitude);
+		dragWaypointPending = true;
+		document.getElementById('JScript_dragWaypointLatitude').setAttribute('value',dragWaypointLatitude);
+	   document.getElementById('JScript_dragWaypointLongitude').setAttribute('value',dragWaypointLongitude);
+	   document.getElementById('JScript_dragWaypointAltitude').setAttribute('value',dragWaypointAltitude);
+	   document.getElementById('JScript_dragWaypointPending').setAttribute('value',true);
+	   setGCSHome(dragWaypointLatitude, dragWaypointLongitude, dragWaypointAltitude);
+}
+    
   if (event.getTarget().getType() == 'KmlPlacemark' &&
       event.getTarget().getGeometry().getType() == 'KmlPoint') {
     var placemark = event.getTarget();
     event.preventDefault();
       if (draggingAllowed)
   {
+  	if (clickMode == 0)
+  	{
     dragInfo = {
       placemark: event.getTarget(),
       dragged: false
     };
+    }
   }
   }
 });
@@ -157,7 +205,7 @@ google.earth.addEventListener(ge.getWindow(), 'mousedown', function(event)
 // listen for mousemove on the globe
 google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
 {
-  if (draggingAllowed)
+  if (draggingAllowed && (clickMode == 0))
   {
   if (dragInfo) {
     event.preventDefault();
@@ -182,7 +230,7 @@ google.earth.addEventListener(ge.getGlobe(), 'mousemove', function(event)
 // listen for mouseup on the window
 google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
 {
-  if (draggingAllowed)
+  if (draggingAllowed && (clickMode == 0))
   {
   if (dragInfo) {
     if (dragInfo.dragged)
@@ -206,6 +254,7 @@ google.earth.addEventListener(ge.getWindow(), 'mouseup', function(event)
     dragInfo = null;
   }
   }
+      clickMode = 0;
 });
 
 // Listen for wp creation request on the globe
@@ -235,6 +284,9 @@ function setCurrAircraft(id)
 
 function setGCSHome(lat, lon, alt)
 {
+	// Only update if position actually changed
+	if (lat != homeLat || lon != homeLon || alt != homeAlt)
+	{
 	homeLat = lat;
 	homeLon = lon;
 	homeAlt = alt;
@@ -265,12 +317,15 @@ function setGCSHome(lat, lon, alt)
 	    }
 	    else
 	    {
-	    	var location = ge.createPoint(''); 
-	    location.setLatitude(lat); 
-	    location.setLongitude(lon);
-	    location.setAltitude(alt); 
-	    homePlacemark.setGeometry(location);
-	    homePlacemark.setDescription('HOME');
+	    	var location = ge.createPoint('');
+	    	if (location.getLatitude() != lat || location.getLongitude() != lon || location.getAltitude() != alt)
+	    	{
+	    		location.setLatitude(lat); 
+	    		location.setLongitude(lon);
+	    		location.setAltitude(alt); 
+	    		homePlacemark.setGeometry(location);
+	    		homePlacemark.setDescription('HOME');
+	    	}
 	    }
 
 	    homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
@@ -278,6 +333,7 @@ function setGCSHome(lat, lon, alt)
 	    {
 		    homeGroundLevel = alt;
 	    }
+	}
 }
 
 function updateWaypointListLength(id, len)
@@ -560,14 +616,8 @@ function setViewMode(mode)
 	{
 		lastTilt = currView.getTilt();
 		lastHeading = currView.getHeading();
-		//var lastLat2 = currView.getLatitude();
-		//var lastLon2 = currView.getLongitude();
-		//var lastAlt2 = currView.getAltitude();
 		currView.setTilt(0);
 		currView.setHeading(0);
-		//currView.setLatitude(lastLat2);
-		//currView.setLongitude(lastLon2);
-		//currView.setAltitude(lastAlt2);
 	}
 	
 	viewMode = mode;
@@ -628,5 +678,8 @@ function failureCallback(object)
 	<input type="hidden" id="JScript_newWaypointLongitude" value="0" />
 	<input type="hidden" id="JScript_newWaypointAltitude" value="0" />
 	<input type="hidden" id="JScript_newWaypointPending" value="false" />
+	<input type="hidden" id="JScript_currentCameraLatitude" value="0" />
+	<input type="hidden" id="JScript_currentCameraLongitude" value="0" />
+	<input type="hidden" id="JScript_currentCameraGroundAltitude" value="0" />
   </body>
 </html>

src/uas/UAS.cc

@@ -1042,6 +1042,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     }
 }
 
+void UAS::setHomePosition(double lat, double lon, double alt)
+{
+    // Send new home position to UAS
+    mavlink_gps_set_global_origin_t home;
+    home.target_system = uasId;
+    home.target_component = 0; // ALL components
+    home.latitude = lat*1E7;
+    home.longitude = lon*1E7;
+    home.altitude = alt*1000;
+    mavlink_message_t msg;
+    mavlink_msg_gps_set_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
+    sendMessage(msg);
+}
+
 void UAS::setLocalOriginAtCurrentGPSPosition()
 {
 
@@ -1061,7 +1075,7 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
     if (ret == QMessageBox::Yes)
     {
         mavlink_message_t msg;
-        mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
+        mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
         // Send message twice to increase chance that it reaches its goal
         sendMessage(msg);
         // Wait 5 ms

src/uas/UAS.h

@@ -309,6 +309,8 @@ public slots:
 
     /** @brief Set world frame origin at current GPS position */
     void setLocalOriginAtCurrentGPSPosition();
+    /** @brief Set world frame origin / home position at this GPS position */
+    void setHomePosition(double lat, double lon, double alt);
     /** @brief Set local position setpoint */
     void setLocalPositionSetpoint(float x, float y, float z, float yaw);
     /** @brief Add an offset in body frame to the setpoint */

src/uas/UASInterface.h

@@ -224,6 +224,8 @@ public slots:
     //virtual void clearWaypointList() = 0;
     /** @brief Set world frame origin at current GPS position */
     virtual void setLocalOriginAtCurrentGPSPosition() = 0;
+    /** @brief Set world frame origin / home position at this GPS position */
+    virtual void setHomePosition(double lat, double lon, double alt) = 0;
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
     /** @brief Request one specific onboard parameter */

src/uas/UASManager.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QApplication>
 #include <QMessageBox>
 #include <QTimer>
+#include <QSettings>
 #include "UAS.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -50,19 +51,64 @@ UASManager* UASManager::instance()
     return _instance;
 }
 
+void UASManager::storeSettings()
+{
+    QSettings settings;
+    settings.beginGroup("QGC_UASMANAGER");
+    settings.setValue("HOMELAT", homeLat);
+    settings.setValue("HOMELON", homeLon);
+    settings.setValue("HOMEALT", homeAlt);
+    settings.endGroup();
+    settings.sync();
+}
+
+void UASManager::loadSettings()
+{
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("QGC_UASMANAGER");
+    setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
+                    settings.value("HOMELON", homeLon).toDouble(),
+                    settings.value("HOMEALT", homeAlt).toDouble());
+    settings.endGroup();
+}
+
+void UASManager::setHomePosition(double lat, double lon, double alt)
+{
+    // Checking for NaN and infitiny
+    if (lat == lat && lon == lon && alt == alt && !std::isinf(lat) && !std::isinf(lon) && !std::isinf(alt))
+    {
+        bool changed = false;
+        if (homeLat != lat) changed = true;
+        if (homeLon != lon) changed = true;
+        if (homeAlt != alt) changed = true;
+
+        homeLat = lat;
+        homeLon = lon;
+        homeAlt = alt;
+
+        if (changed) emit homePositionChanged(homeLat, homeLon, homeAlt);
+    }
+}
+
 /**
  * @brief Private singleton constructor
  *
  * This class implements the singleton design pattern and has therefore only a private constructor.
  **/
 UASManager::UASManager() :
-        activeUAS(NULL)
+        activeUAS(NULL),
+        homeLat(47.3769),
+        homeLon(8.549444),
+        homeAlt(470.0)
 {
     start(QThread::LowPriority);
+    loadSettings();
 }
 
 UASManager::~UASManager()
 {
+    storeSettings();
     // Delete all systems
     foreach (UASInterface* mav, systems)
     {
@@ -99,6 +145,7 @@ void UASManager::addUAS(UASInterface* uas)
     {
         systems.append(uas);
         connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
+        connect(this, SIGNAL(homePositionChanged(double,double,double)), uas, SLOT(setHomePosition(double,double,double)));
         emit UASCreated(uas);
     }
 

src/uas/UASManager.h

@@ -70,6 +70,12 @@ public:
     UASInterface* getUASForId(int id);
 
     QList<UASInterface*> getUASList();
+    /** @brief Get home position latitude */
+    double getHomeLatitude() const { return homeLat; }
+    /** @brief Get home position longitude */
+    double getHomeLongitude() const { return homeLon; }
+    /** @brief Get home position altitude */
+    double getHomeAltitude() const { return homeAlt; }
 
 
 public slots:
@@ -162,12 +168,23 @@ public slots:
     /** @brief Shut down the onboard operating system down */
     bool shutdownActiveUAS();
 
+    /** @brief Set the current home position */
+    void setHomePosition(double lat, double lon, double alt);
+
+    /** @brief Load settings */
+    void loadSettings();
+    /** @brief Store settings */
+    void storeSettings();
+
 
 protected:
     UASManager();
     QList<UASInterface*> systems;
     UASInterface* activeUAS;
     QMutex activeUASMutex;
+    double homeLat;
+    double homeLon;
+    double homeAlt;
 
 signals:
     void UASCreated(UASInterface* UAS);
@@ -181,6 +198,8 @@ signals:
     void activeUASStatusChanged(UASInterface* UAS, bool active);
     /** @brief The UAS currently under main operator control changed */
     void activeUASStatusChanged(int systemId, bool active);
+    /** @brief Current home position changed */
+    void homePositionChanged(double lat, double lon, double alt);
 
 };
 

src/ui/MainWindow.cc

@@ -939,6 +939,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
     storeSettings();
     aboutToCloseFlag = true;
     mavlink->storeSettings();
+    UASManager::instance()->storeSettings();
     QMainWindow::closeEvent(event);
 }
 

src/ui/map3D/QGCGoogleEarthView.cc

@@ -2,6 +2,7 @@
 #include <QDir>
 #include <QShowEvent>
 #include <QSettings>
+#include <QInputDialog>
 
 #include <QDebug>
 #include <QFile>
@@ -88,6 +89,8 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
     connect(ui->clearTrailsButton, SIGNAL(clicked()), this, SLOT(clearTrails()));
     connect(ui->atmosphereCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableAtmosphere(bool)));
     connect(ui->daylightCheckBox, SIGNAL(clicked(bool)), this, SLOT(enableDaylight(bool)));
+
+    connect(UASManager::instance(), SIGNAL(homePositionChanged(double,double,double)), this, SLOT(setHome(double,double,double)));
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -355,9 +358,43 @@ void QGCGoogleEarthView::goHome()
 
 void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
 {
+    qDebug() << "SETTING GCS HOME IN GOOGLE MAPS" << lat << lon << alt;
     javaScript(QString("setGCSHome(%1,%2,%3);").arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
 }
 
+void QGCGoogleEarthView::setHome()
+{
+    javaScript(QString("enableSetHomeMode();"));
+}
+
+void QGCGoogleEarthView::moveToPosition()
+{
+    bool ok;
+    javaScript("sampleCurrentPosition();");
+    double latitude = documentElement("currentCameraLatitude").toDouble();
+    double longitude = documentElement("currentCameraLongitude").toDouble();
+    QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
+                                         tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
+                                         QString("%1,%2").arg(latitude).arg(longitude), &ok);
+    if (ok && !text.isEmpty())
+    {
+        QStringList split = text.split(",");
+        if (split.length() == 2)
+        {
+            bool convert;
+            double latitude = split.first().toDouble(&convert);
+            ok &= convert;
+            double longitude = split.last().toDouble(&convert);
+            ok &= convert;
+
+            if (ok)
+            {
+                javaScript(QString("setLookAtLatLon(%1,%2);").arg(latitude, 0, 'f', 15).arg(longitude, 0, 'f', 15));
+            }
+        }
+    }
+}
+
 void QGCGoogleEarthView::hideEvent(QHideEvent* event)
 {
     Q_UNUSED(event);
@@ -441,80 +478,47 @@ QVariant QGCGoogleEarthView::documentElement(QString name)
     if(!jScriptInitialized)
     {
         qDebug() << "TOO EARLY JAVASCRIPT CALL, ABORTING";
-        return QVariant(false);
     }
     else
     {
-//        QVariantList params;
-//        QString javaScript("getGlobal(%1)");
-//       params.append(javaScript.arg(name));
-//        params.append("JScript");
-//        QVariant result = jScriptWin->dynamicCall("execScript(QString, QString)", params);
-//        qDebug() << "JScript result: " << result << result.toDouble();
-		if (documentWin)
-		{
-			QString resultString;
-
-			// Get HTMLElement object
-			QVariantList params;
-			IHTMLDocument3* doc;
-			documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc);
-			params.append(name);
-			IHTMLElement* element = NULL;
-			// Append alias
-			name.prepend("JScript_");
-			HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
-			//BSTR elemString;
-			if (element)
-			{
-				//element->get_innerHTML(&elemString);
-				VARIANT var;
-				var.vt = VT_BSTR;
-				HRESULT res = element->getAttribute(L"value", 0, &var);
-				if (SUCCEEDED(res) && (var.vt != VT_NULL))
-				{
-					//VariantChangeType(&var, &var, 0, VT_BSTR);
-					//qDebug() << "GOT ATTRIBUTE";
-					//_bstr_t bstrHello(var.bstrVal); // passing true means
-                                    // you should not call
-                                    // SysFreeString
-
-			        //qDebug() << "BSTR:" << LPCSTR(bstrHello);
-				}
-				else
-				{
-					qDebug() << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND";
-				}
-				QByteArray typeName;
-				QVariant qtValue = VARIANTToQVariant(var,typeName);
-				return qtValue;
-
-			//element->toString(&elemString);
-
-			//_bstr_t bstrHello(elemString, true); // passing true means
-                                    // you should not call
-                                    // SysFreeString
-
-			//qDebug() << "BSTR:" << LPCSTR(bstrHello);
-
-			//QAxObject* elementWin = new QAxObject(element, documentWin);
-			//if (elementWin)
-			//{
-			//	QVariant result = elementWin->dynamicCall("toString()");
-			//	qDebug() << "GOT RESULT" << result << result.toString();
-			//}
-			//else
-			//{
-			//	qDebug() << "CREATING HTML ELEMENT FAILED";
-			//}
-			}
-			else
-			{
-				qDebug() << "DID NOT GET HTML ELEMENT";
-			}
-			return QVariant(0);//QVariant(result);
-		}
+        if (documentWin)
+        {
+            QString resultString;
+
+            // Get HTMLElement object
+            QVariantList params;
+            IHTMLDocument3* doc;
+            documentWin->queryInterface( IID_IHTMLDocument3, (void**)&doc);
+            params.append(name);
+            IHTMLElement* element = NULL;
+            // Append alias
+            name.prepend("JScript_");
+            HRESULT res = doc->getElementById(QStringToBSTR(name), &element);
+            //BSTR elemString;
+            if (element)
+            {
+                //element->get_innerHTML(&elemString);
+                VARIANT var;
+                var.vt = VT_BSTR;
+                HRESULT res = element->getAttribute(L"value", 0, &var);
+                if (SUCCEEDED(res) && (var.vt != VT_NULL))
+                {
+                    QByteArray typeName;
+                    QVariant qtValue = VARIANTToQVariant(var,typeName);
+                    return qtValue;
+                }
+                else
+                {
+                    qDebug() << __FILE__ << __LINE__ << "JAVASCRIPT ATTRIBUTE" << name << "NOT FOUND";
+                }
+            }
+            else
+            {
+                qDebug() << __FILE__ << __LINE__ << "DID NOT GET HTML ELEMENT" << name;
+            }
+        }
     }
+    return QVariant(0);
 #endif
 }
 
@@ -529,22 +533,18 @@ void QGCGoogleEarthView::initializeGoogleEarth()
         QAxObject* doc = webViewWin->querySubObject("Document()");
         //IDispatch* Disp;
         IDispatch* winDoc = NULL;
-		IHTMLDocument2* document = NULL;
+        IHTMLDocument2* document = NULL;
 
         //332C4425-26CB-11D0-B483-00C04FD90119 IHTMLDocument2
         //25336920-03F9-11CF-8FD0-00AA00686F13 HTMLDocument
         doc->queryInterface(QUuid("{332C4425-26CB-11D0-B483-00C04FD90119}"), (void**)(&winDoc));
         if (winDoc)
         {
-            // Security:
-            // CoInternetSetFeatureEnabled
-            // (FEATURE_LOCALMACHINE_LOCKDOWN, SET_FEATURE_ON_PROCESS, TRUE);
-            //
             document = NULL;
             winDoc->QueryInterface( IID_IHTMLDocument2, (void**)&document );
             IHTMLWindow2 *window = NULL;
             document->get_parentWindow( &window );
-			documentWin = new QAxObject(document, webViewWin);
+            documentWin = new QAxObject(document, webViewWin);
             jScriptWin = new QAxObject(window, webViewWin);
             connect(jScriptWin, SIGNAL(exception(int,QString,QString,QString)), this, SLOT(printWinException(int,QString,QString,QString)));
             jScriptInitialized = true;
@@ -570,10 +570,7 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             gEarthInitialized = true;
 
             // Set home location
-            setHome(47.3769, 8.549444, 500);
-
-            // Move to home location
-            goHome();
+            setHome(UASManager::instance()->getHomeLatitude(), UASManager::instance()->getHomeLongitude(), UASManager::instance()->getHomeAltitude());
 
             // Add all MAVs
             QList<UASInterface*> mavs = UASManager::instance()->getUASList();
@@ -601,6 +598,15 @@ void QGCGoogleEarthView::initializeGoogleEarth()
 
             // Go home
             connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
+            // Set home
+            connect(ui->setHomeButton, SIGNAL(clicked()), this, SLOT(setHome()));
+
+            // Visibility of set home button
+            connect(ui->editButton, SIGNAL(clicked(bool)), ui->setHomeButton, SLOT(setVisible(bool)));
+            ui->setHomeButton->setVisible(ui->editButton->isChecked());
+
+            // To Lat/Lon button
+            connect(ui->toLatLonButton, SIGNAL(clicked()), this, SLOT(moveToPosition()));
 
             // Cam distance slider
             connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)), Qt::UniqueConnection);
@@ -624,6 +630,9 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             enableAtmosphere(ui->atmosphereCheckBox->isChecked());
             enableDaylight(ui->daylightCheckBox->isChecked());
             follow(this->followCamera);
+
+            // Move to home location
+            goHome();
         }
     }
 }
@@ -723,7 +732,9 @@ void QGCGoogleEarthView::updateState()
                 QString idText = documentElement("dragWaypointIndex").toString();
                 if (idText == "HOME")
                 {
-                    setHome(latitude, longitude, altitude);
+                    qDebug() << "HOME UPDATED!";
+                    UASManager::instance()->setHomePosition(latitude, longitude, altitude);
+                    ui->setHomeButton->setChecked(false);
                 }
                 else
                 {

src/ui/map3D/QGCGoogleEarthView.h

@@ -104,6 +104,10 @@ public slots:
     void goHome();
     /** @brief Set the home location */
     void setHome(double lat, double lon, double alt);
+    /** @brief Set the home location interactively in the UI */
+    void setHome();
+    /** @brief Move the view to a latitude / longitude position */
+    void moveToPosition();
     /** @brief Allow waypoint editing */
     void enableEditMode(bool mode);
     /** @brief Enable daylight/night */

src/ui/map3D/QGCGoogleEarthView.ui

@@ -6,16 +6,16 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1089</width>
+    <width>1409</width>
     <height>302</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="1,10,10,10,10,5,1,100,10,10,10,10,10,5,2,2">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="1,10,10,10,10,5,10,1000,10,10,10,10,10,5,2,2,0,0">
    <property name="horizontalSpacing">
-    <number>8</number>
+    <number>4</number>
    </property>
    <property name="verticalSpacing">
     <number>2</number>
@@ -23,7 +23,7 @@
    <property name="margin">
     <number>2</number>
    </property>
-   <item row="0" column="0" colspan="16">
+   <item row="0" column="0" colspan="18">
     <layout class="QVBoxLayout" name="webViewLayout"/>
    </item>
    <item row="1" column="1">
@@ -38,11 +38,37 @@
       <string>Go to home location</string>
      </property>
      <property name="text">
-      <string>Home</string>
+      <string>To Home</string>
      </property>
     </widget>
    </item>
    <item row="1" column="3">
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="text">
+      <string>Set Home</string>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="editButton">
+     <property name="toolTip">
+      <string>Enable waypoint and home location edit mode</string>
+     </property>
+     <property name="statusTip">
+      <string>Enable waypoint and home location edit mode</string>
+     </property>
+     <property name="text">
+      <string>Edit</string>
+     </property>
+     <property name="checkable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="4">
     <widget class="QCheckBox" name="trailCheckbox">
      <property name="toolTip">
       <string>Show MAV trajectories</string>
@@ -58,21 +84,35 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="13">
-    <spacer name="horizontalSpacer">
+   <item row="1" column="5">
+    <widget class="Line" name="line">
      <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+      <enum>Qt::Vertical</enum>
      </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Expanding</enum>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QComboBox" name="camDistanceComboBox">
+     <property name="toolTip">
+      <string>Select the MAV to chase</string>
      </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
+     <property name="statusTip">
+      <string>Select the MAV to chase</string>
      </property>
-    </spacer>
+     <property name="whatsThis">
+      <string>Select the MAV to chase</string>
+     </property>
+     <item>
+      <property name="text">
+       <string>MAV Distance</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Ground Distance</string>
+      </property>
+     </item>
+    </widget>
    </item>
    <item row="1" column="7">
     <widget class="QSlider" name="camDistanceSlider">
@@ -115,50 +155,20 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
-    <widget class="QComboBox" name="camDistanceComboBox">
-     <property name="toolTip">
-      <string>Select the MAV to chase</string>
-     </property>
-     <property name="statusTip">
-      <string>Select the MAV to chase</string>
-     </property>
-     <property name="whatsThis">
-      <string>Select the MAV to chase</string>
+   <item row="1" column="9">
+    <widget class="QPushButton" name="changeViewButton">
+     <property name="text">
+      <string>Overhead</string>
      </property>
-     <item>
-      <property name="text">
-       <string>MAV Distance</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Ground Distance</string>
-      </property>
-     </item>
     </widget>
    </item>
-   <item row="1" column="4">
-    <widget class="Line" name="line">
+   <item row="1" column="10">
+    <widget class="Line" name="line_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
     </widget>
    </item>
-   <item row="1" column="12">
-    <widget class="QPushButton" name="resetButton">
-     <property name="text">
-      <string>Reset</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="9">
-    <widget class="QPushButton" name="changeViewButton">
-     <property name="text">
-      <string>Overhead</string>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="11">
     <widget class="QPushButton" name="clearTrailsButton">
      <property name="toolTip">
@@ -175,28 +185,28 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="10">
-    <widget class="Line" name="line_2">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
+   <item row="1" column="12">
+    <widget class="QPushButton" name="resetButton">
+     <property name="text">
+      <string>Reset</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="2">
-    <widget class="QPushButton" name="editButton">
-     <property name="toolTip">
-      <string>Enable waypoint and home location edit mode</string>
-     </property>
-     <property name="statusTip">
-      <string>Enable waypoint and home location edit mode</string>
+   <item row="1" column="13">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
      </property>
-     <property name="text">
-      <string>Edit</string>
+     <property name="sizeType">
+      <enum>QSizePolicy::MinimumExpanding</enum>
      </property>
-     <property name="checkable">
-      <bool>true</bool>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
      </property>
-    </widget>
+    </spacer>
    </item>
    <item row="1" column="14">
     <widget class="QCheckBox" name="atmosphereCheckBox">
@@ -224,6 +234,13 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="0">
+    <widget class="QPushButton" name="toLatLonButton">
+     <property name="text">
+      <string>To Lat/Lon</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>