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

Conflicts:
	src/ui/MainWindow.cc

src/comm/QGCHilLink.h

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

src/comm/QGCXPlaneLink.cc

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

src/configuration.h

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

src/uas/UASWaypointManager.h

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

src/ui/HSIDisplay.cc

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

src/ui/MainWindow.h

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

src/ui/QGCHilConfiguration.cc

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

src/ui/QGCHilConfiguration.h

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

src/ui/QGCHilXPlaneConfiguration.cc

@@ -32,12 +32,19 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
         ui->sensorHilCheckBox->setChecked(link->sensorHilEnabled());
         connect(link, SIGNAL(sensorHilChanged(bool)), ui->sensorHilCheckBox, SLOT(setChecked(bool)));
         connect(ui->sensorHilCheckBox, SIGNAL(clicked(bool)), link, SLOT(enableSensorHIL(bool)));
+
+        connect(link, SIGNAL(versionChanged(int)), this, SLOT(setVersion(int)));
     }
 
     ui->hostComboBox->clear();
     ui->hostComboBox->addItem(link->getRemoteHost());
 
 
+}
+
+void QGCHilXPlaneConfiguration::setVersion(int version)
+{
+
 }
 
 void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)

src/ui/QGCHilXPlaneConfiguration.h

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

src/ui/QGCHilXPlaneConfiguration.ui

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

src/ui/QGCMAVLinkLogPlayer.cc

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

src/ui/QGCToolBar.cc

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

src/ui/QGCToolBar.h

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

src/ui/QGCVehicleConfig.cc

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

src/ui/QGCWaypointListMulti.cc

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

src/ui/SerialConfigurationWindow.cc

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

src/ui/WaypointList.h

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

src/ui/designer/QGCParamSlider.cc

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

src/ui/map3D/Pixhawk3DWidget.cc

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

src/ui/map3D/QGCGoogleEarthView.cc

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

src/ui/map3D/WaypointGroupNode.cc

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