Merge pull request #1865 from DonLakeFlyer/EvenMoreMission

More MissionEditor work

QGCApplication.pro

@@ -145,6 +145,7 @@ INCLUDEPATH += \
     src/Joystick \
     src/lib/qmapcontrol \
     src/MissionEditor \
+    src/MissionManager \
     src/QmlControls \
     src/uas \
     src/ui \
@@ -246,6 +247,7 @@ HEADERS += \
     src/LogCompressor.h \
     src/MG.h \
     src/MissionEditor/MissionEditor.h \
+    src/MissionManager/MissionManager.h \
     src/QGC.h \
     src/QGCApplication.h \
     src/QGCComboBox.h \
@@ -384,6 +386,7 @@ SOURCES += \
     src/LogCompressor.cc \
     src/main.cc \
     src/MissionEditor/MissionEditor.cc \
+    src/MissionManager/MissionManager.cc \
     src/QGC.cc \
     src/QGCApplication.cc \
     src/QGCComboBox.cc \

src/AutoPilotPlugins/PX4/AirframeComponent.qml

@@ -34,7 +34,7 @@ import QGroundControl.Controllers 1.0
 import QGroundControl.ScreenTools 1.0
 
 QGCView {
-    id:         rootQGCView
+    id:         qgcView
     viewPanel:  panel
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }

src/FlightMap/FlightMap.qml

@@ -53,7 +53,6 @@ Map {
     property real   lon: (longitude >= -180 && longitude <= 180) ? longitude : 0
     property real   lat: (latitude  >=  -90 && latitude  <=  90) ? latitude  : 0
 
-    anchors.fill: parent
     zoomLevel:  18
     center:     QtPositioning.coordinate(lat, lon)
     gesture.flickDeceleration: 3000

src/MissionEditor/MissionEditor.cc

@@ -23,6 +23,8 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionEditor.h"
 #include "ScreenToolsController.h"
+#include "MultiVehicleManager.h"
+#include "MissionManager.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -32,6 +34,7 @@ const char* MissionEditor::_settingsGroup = "MissionEditor";
 
 MissionEditor::MissionEditor(QWidget *parent)
     : QGCQmlWidgetHolder(parent)
+    , _missionItems(NULL)
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     // Get rid of layout default margins
@@ -44,6 +47,15 @@ MissionEditor::MissionEditor(QWidget *parent)
     setMinimumHeight(33 * ScreenToolsController::defaultFontPixelSize_s());
 #endif
     
+    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    if (activeVehicle) {
+        MissionManager* missionManager = activeVehicle->missionManager();
+        connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditor::_newMissionItemsAvailable);
+        _newMissionItemsAvailable();
+    } else {
+        _missionItems = new QmlObjectListModel(this);
+    }
+    
     setContextPropertyObject("controller", this);
 
     setSource(QUrl::fromUserInput("qrc:/qml/MissionEditor.qml"));
@@ -53,6 +65,34 @@ MissionEditor::~MissionEditor()
 {
 }
 
+void MissionEditor::_newMissionItemsAvailable(void)
+{
+    if (_missionItems) {
+        _missionItems->deleteLater();
+    }
+    
+    _missionItems = MultiVehicleManager::instance()->activeVehicle()->missionManager()->copyMissionItems();
+    emit missionItemsChanged();
+}
+
+void MissionEditor::getMissionItems(void)
+{
+    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    
+    if (activeVehicle) {
+        activeVehicle->missionManager()->requestMissionItems();
+    }
+}
+
+void MissionEditor::setMissionItems(void)
+{
+    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    
+    if (activeVehicle) {
+        activeVehicle->missionManager()->writeMissionItems(*_missionItems);
+    }
+}
+
 void MissionEditor::saveSetting(const QString &name, const QString& value)
 {
     QSettings settings;
@@ -73,10 +113,10 @@ QString MissionEditor::loadSetting(const QString &name, const QString& defaultVa
 
 void MissionEditor::addMissionItem(QGeoCoordinate coordinate)
 {
-    MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate);
-    if (_missionItems.count() == 0) {
+    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);
+    _missionItems->append(newItem);
 }

src/MissionEditor/MissionEditor.h

@@ -35,19 +35,27 @@ public:
     MissionEditor(QWidget* parent = NULL);
     ~MissionEditor();
 
-    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel CONSTANT)
+    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel NOTIFY missionItemsChanged)
     
     Q_INVOKABLE void addMissionItem(QGeoCoordinate coordinate);
+    Q_INVOKABLE void getMissionItems(void);
+    Q_INVOKABLE void setMissionItems(void);
     
     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; }
+    QmlObjectListModel* missionItemsModel(void) { return _missionItems; }
+    
+signals:
+    void missionItemsChanged(void);
+    
+private slots:
+    void _newMissionItemsAvailable();
     
 private:
-    QmlObjectListModel  _missionItems;
+    QmlObjectListModel* _missionItems;
     
     static const char* _settingsGroup;
 };

src/MissionEditor/MissionEditor.qml

@@ -34,82 +34,147 @@ 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.
+QGCView {
+    viewPanel: panel
 
     readonly property real  _defaultLatitude:   37.803784
     readonly property real  _defaultLongitude:  -122.462276
     readonly property int   _decimalPlaces:     7
+    readonly property real  _horizontalMargin:   ScreenTools.defaultFontPixelWidth / 2
+    readonly property real  _verticalMargin:     ScreenTools.defaultFontPixelHeight / 2
+    readonly property var   _activeVehicle:     multiVehicleManager.activeVehicle
 
-    FlightMap {
-        id:             editorMap
-        anchors.fill:   parent
-        mapName:        "MissionEditor"
-        latitude:       _defaultLatitude
-        longitude:      _defaultLongitude
-
-        QGCLabel { text: "WIP: Non functional"; font.pixelSize: ScreenTools.largeFontPixelSize }
+    QGCPalette { id: _qgcPal; colorGroupEnabled: enabled }
 
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
 
-        MouseArea {
+        Item {
             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)
+            FlightMap {
+                id:             editorMap
+                anchors.left:   parent.left
+                anchors.right:  missionItemView.left
+                anchors.top:    parent.top
+                anchors.bottom: parent.bottom
+                mapName:        "MissionEditor"
+                latitude:       _defaultLatitude
+                longitude:      _defaultLongitude
+
+                QGCLabel {
+                    anchors.right: parent.right
+                    text: "WIP: Danger, do not fly with this!"; 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)
+                    }
                 }
-        }
-
-        // 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
+
+                // 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)
+                        }
+                }
+
+                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
+                    }
                 }
-        }
-
-        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
-            }
-        }
-    }
-}
+            } // FlightMap
+
+            Rectangle {
+                id:                 missionItemView
+                anchors.right:      parent.right
+                anchors.top:        parent.top
+                anchors.bottom:     parent.bottom
+                width:              ScreenTools.defaultFontPixelWidth * 30
+                color: _qgcPal.window
+
+                Item {
+                    anchors.margins:    _verticalMargin
+                    anchors.fill:       parent
+
+                    QGCButton {
+                        id:     toolsButton
+                        text:   "Tools"
+                        menu :  toolMenu
+
+                        Menu {
+                            id: toolMenu
+
+                            MenuItem {
+                                text:       "Get mission items from vehicle"
+                                enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress
+
+                                onTriggered: controller.getMissionItems()
+                            }
+
+                            MenuItem {
+                                text:       "Send mission items to vehicle"
+                                enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress
+
+                                onTriggered: controller.setMissionItems()
+                            }
+
+                            MenuItem {
+                                text: "Load mission items from disk"
+                            }
+
+                            MenuItem {
+                                text: "Save mission items to disk"
+                            }
+                        }
+                    }
+
+                    // Mission item list
+                    ListView {
+                        id:                 missionItemSummaryList
+                        anchors.topMargin:  _verticalMargin
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        toolsButton.bottom
+                        anchors.bottom:     parent.bottom
+                        spacing:            _verticalMargin
+                        orientation:        ListView.Vertical
+                        model:              controller.missionItems
+
+                        property real _maxItemHeight: 0
+
+                        delegate:
+                            MissionItemEditor {
+                                missionItem:    object
+                                width:          parent.width
+                            }
+                    } // ListView
+                } // Item
+            } // Rectangle - mission item list
+        } // Item - split view container
+    } // QGCViewPanel
+} // QGCVIew

src/MissionItem.h

@@ -69,6 +69,7 @@ public:
     Q_PROPERTY(QStringList          valueStrings        READ valueStrings                                   NOTIFY valueStringsChanged)
     Q_PROPERTY(int                  commandByIndex      READ commandByIndex         WRITE setCommandByIndex NOTIFY commandChanged)
     Q_PROPERTY(QmlObjectListModel*  facts               READ facts                                          NOTIFY commandChanged)
+    Q_PROPERTY(int                  factCount           READ factCount                                      NOTIFY commandChanged)
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand        NOTIFY commandChanged)
     
     // Property accesors
@@ -90,13 +91,14 @@ public:
     int commandByIndex(void);
     void setCommandByIndex(int index);
     
-    MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); };
+    MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; };
     void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); }
     
     QStringList valueLabels(void);
     QStringList valueStrings(void);
     
     QmlObjectListModel* facts(void);
+    int factCount(void);
     
     double yawDegrees(void) const;
     void setYawDegrees(double yaw);
@@ -122,57 +124,56 @@ public:
     double yawRadians(void) const;
     void setYawRadians(double yaw);
     
-    bool getAutoContinue() const {
+    bool autoContinue() const {
         return _autocontinue;
     }
     double loiterOrbitRadius() const {
         return _loiterOrbitRadiusFact->value().toDouble();
     }
-    double getAcceptanceRadius() const {
-        return getParam2();
+    double acceptanceRadius() const {
+        return param2();
     }
-    double getHoldTime() const {
-        return getParam1();
+    double holdTime() const {
+        return param1();
     }
-    double getParam1() const {
+    double param1() const {
         return _param1Fact->value().toDouble();
     }
-    double getParam2() const {
+    double param2() const {
         return _param2Fact->value().toDouble();
     }
-    double getParam3() const {
+    double param3() const {
         return loiterOrbitRadius();
     }
-    double getParam4() const {
+    double param4() const {
         return yawRadians();
     }
-    double getParam5() const {
+    double param5() const {
         return latitude();
     }
-    double getParam6() const {
+    double param6() const {
         return longitude();
     }
-    double getParam7() const {
+    double param7() const {
         return altitude();
     }
     // MAV_FRAME
-    int getFrame() const {
+    int frame() const {
         return _frame;
     }
     // MAV_CMD
-    int getAction() const {
-        return _action;
+    int command() const {
+        return _command;
     }
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 
     /** @brief Get the time this waypoint was reached */
-    quint64 getReachedTime() const { return _reachedTime; }
+    quint64 reachedTime() const { return _reachedTime; }
 
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
     
-    
 signals:
     void sequenceNumberChanged(int sequenceNumber);
     void specifiesCoordinateChanged(bool specifiesCoordinate);
@@ -224,13 +225,13 @@ private:
         const char* name;
     } MavCmd2Name_t;
     
-    int             _sequenceNumber;
-    QGeoCoordinate  _coordinate;
-    int             _frame;
-    int             _action;
-    bool            _autocontinue;
-    bool            _isCurrentItem;
-    quint64         _reachedTime;
+    int                                 _sequenceNumber;
+    QGeoCoordinate                      _coordinate;
+    int                                 _frame;
+    MavlinkQmlSingleton::Qml_MAV_CMD    _command;
+    bool                                _autocontinue;
+    bool                                _isCurrentItem;
+    quint64                             _reachedTime;
     
     Fact*           _yawRadiansFact;
     Fact*           _loiterOrbitRadiusFact;

src/MissionManager/MissionManager.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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 MissionManager_H
+#define MissionManager_H
+
+#include <QObject>
+#include <QLoggingCategory>
+#include <QThread>
+#include <QMutex>
+#include <QTimer>
+
+#include "QmlObjectListModel.h"
+#include "QGCMAVLink.h"
+#include "QGCLoggingCategory.h"
+
+class Vehicle;
+
+Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
+
+class MissionManager : public QThread
+{
+    Q_OBJECT
+    
+public:
+    /// @param uas Uas which this set of facts is associated with
+    MissionManager(Vehicle* vehicle);
+    ~MissionManager();
+    
+    Q_PROPERTY(bool                 inProgress   READ inProgress    CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  missionItems READ missionItems  CONSTANT)
+    
+    // Property accessors
+    
+    bool inProgress(void) { return _retryAck != AckNone; }
+    QmlObjectListModel* missionItems(void) { return &_missionItems; }
+    
+    void requestMissionItems(void);
+    
+    /// Writes the specified set of mission items to the vehicle
+    void writeMissionItems(const QmlObjectListModel& missionItems);
+    
+    /// Returns a copy of the current set of mission items. Caller is responsible for
+    /// freeing returned object.
+    QmlObjectListModel* copyMissionItems(void);
+    
+signals:
+    void newMissionItemsAvailable(void);
+    void _requestMissionItemsOnThread(void);
+    void _writeMissionItemsOnThread(void);
+    
+private slots:
+    void _mavlinkMessageReceived(const mavlink_message_t& message);
+    void _ackTimeout(void);
+    
+private:
+    typedef enum {
+        AckNone,            ///< State machine is idle
+        AckMissionCount,    ///< MISSION_COUNT message expected
+        AckMissionItem,     ///< MISSION_ITEM expected
+        AckMissionRequest,  ///< MISSION_REQUEST is expected, or MISSION_ACK to end sequence
+    } AckType_t;
+    
+    void _startAckTimeout(AckType_t ack, const mavlink_message_t& message);
+    bool _stopAckTimeout(AckType_t expectedAck);
+    void _sendTransactionComplete(void);
+    void _handleMissionCount(const mavlink_message_t& message);
+    void _handleMissionItem(const mavlink_message_t& message);
+    void _handleMissionRequest(const mavlink_message_t& message);
+    void _handleMissionAck(const mavlink_message_t& message);
+    void _requestNextMissionItem(int sequenceNumber);
+    void _clearMissionItems(void);
+    void _requestMissionItems(void);
+    void _writeMissionItems(void);
+
+    // Overrides from QThread
+    void run(void);
+    
+private:
+    Vehicle*            _vehicle;
+    
+    int                 _cMissionItems;     ///< Mission items on vehicle
+
+    QTimer*             _ackTimeoutTimer;
+    AckType_t           _retryAck;
+    mavlink_message_t   _retryMessage;
+    int                 _retryCount;
+    
+    int                 _expectedSequenceNumber;
+    
+    QMutex _dataMutex;
+    
+    QmlObjectListModel  _missionItems;
+    
+    static const int _ackTimeoutMilliseconds= 1000;
+    static const int _maxRetryCount = 5;
+};
+
+#endif
\ No newline at end of file

src/QGCApplication.cc

@@ -79,6 +79,7 @@
 #include "MavlinkQmlSingleton.h"
 #include "JoystickManager.h"
 #include "QmlObjectListModel.h"
+#include "MissionManager.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -294,6 +295,7 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",  1, 0, "VehicleComponent",   "Can only reference, cannot create");
     qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",          1, 0, "Vehicle",            "Can only reference, cannot create");
     qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",          1, 0, "MissionItem",        "Can only reference, cannot create");
+    qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",          1, 0, "MissionManager",     "Can only reference, cannot create");
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",    "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",           "Reference only");
     qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel", "Reference only");

src/QmlControls/QmlObjectListModel.cc

@@ -112,7 +112,12 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
     return true;
 }
 
-QObject*& QmlObjectListModel::operator[](int index)
+QObject* QmlObjectListModel::operator[](int index)
+{
+    return _objectList[index];
+}
+
+const QObject* QmlObjectListModel::operator[](int index) const
 {
     return _objectList[index];
 }
@@ -135,7 +140,7 @@ void QmlObjectListModel::append(QObject* object)
     insertRows(_objectList.count() - 1, 1);
 }
 
-int QmlObjectListModel::count(void)
+int QmlObjectListModel::count(void) const
 {
     return rowCount();
 }

src/QmlControls/QmlObjectListModel.h

@@ -38,11 +38,12 @@ public:
     
     Q_PROPERTY(int count READ count NOTIFY countChanged)
 
-    int count(void);
+    int count(void) const;
     void append(QObject* object);
     void clear(void);
     void removeAt(int i);
-    QObject*& operator[](int i);
+    QObject* operator[](int i);
+    const QObject* operator[](int i) const;
     
     // Overrides from QAbstractListModel
     virtual int	rowCount(const QModelIndex & parent = QModelIndex()) const;

src/Vehicle/Vehicle.cc

@@ -30,6 +30,7 @@
 #include "UASMessageHandler.h"
 #include "UAS.h"
 #include "JoystickManager.h"
+#include "MissionManager.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -151,6 +152,10 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     _waypointViewOnlyListChanged();
     
     _loadSettings();
+    
+    if (qgcApp()->useNewMissionEditor()) {
+        _missionManager = new MissionManager(this);
+    }
 }
 
 Vehicle::~Vehicle()
@@ -187,7 +192,7 @@ Vehicle::~Vehicle()
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
 {
-    if (message.sysid != _id) {
+    if (message.sysid != _id && message.sysid != 0) {
         return;
     }
     
@@ -195,6 +200,8 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         _addLink(link);
     }
     
+    emit mavlinkMessageReceived(message);
+    
     _uas->receiveMessage(message);
 }
 

src/Vehicle/Vehicle.h

@@ -41,6 +41,7 @@ class UASInterface;
 class FirmwarePlugin;
 class AutoPilotPlugin;
 class UASWaypointManager;
+class MissionManager;
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -55,7 +56,8 @@ public:
     Q_PROPERTY(int id READ id CONSTANT)
     Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
     
-    Q_PROPERTY(QGeoCoordinate coordinate MEMBER _geoCoordinate NOTIFY coordinateChanged)
+    Q_PROPERTY(QGeoCoordinate   coordinate      MEMBER _geoCoordinate   NOTIFY coordinateChanged)
+    Q_PROPERTY(MissionManager*  missionManager  MEMBER _missionManager  CONSTANT)
     
     Q_INVOKABLE QString     getMavIconColor();
     
@@ -147,6 +149,8 @@ public:
     
     int manualControlReservedButtonCount(void);
     
+    MissionManager* missionManager(void) { return _missionManager; }
+    
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -213,6 +217,7 @@ signals:
     void joystickModeChanged(int mode);
     void joystickEnabledChanged(bool enabled);
     void activeChanged(bool active);
+    void mavlinkMessageReceived(const mavlink_message_t& message);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
@@ -351,6 +356,7 @@ private:
     UASWaypointManager* _wpm;
     int             _updateCount;
     
+    MissionManager*     _missionManager;
     QmlObjectListModel  _missionItems;
     
     static const char* _settingsGroup;

src/uas/UAS.h

@@ -485,7 +485,6 @@ protected: //COMMENTS FOR TEST UNIT
     double airSpeed;             ///< Airspeed
     double groundSpeed;          ///< Groundspeed
     double bearingToWaypoint;    ///< Bearing to next waypoint
-    UASWaypointManager waypointManager;
     FileManager   fileManager;
 
     /// ATTITUDE
@@ -552,7 +551,7 @@ public:
 
     /** @brief Get reference to the waypoint manager **/
     UASWaypointManager* getWaypointManager() {
-        return &waypointManager;
+        return _waypointManager;
     }
 
     virtual FileManager* getFileManager() {
@@ -985,7 +984,8 @@ private:
     void _say(const QString& text, int severity = 6);
     
 private:
-    Vehicle* _vehicle;
+    UASWaypointManager* _waypointManager;
+    Vehicle*            _vehicle;
 };
 
 

src/uas/UASWaypointManager.cc

@@ -114,7 +114,7 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
 {
     Q_UNUSED(mav);
     Q_UNUSED(time);
-    if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU))
+    if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->frame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->frame() == MAV_FRAME_LOCAL_ENU))
     {
         double xdiff = x-currentWaypointEditable->x();
         double ydiff = y-currentWaypointEditable->y();
@@ -132,7 +132,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
     Q_UNUSED(altWGS84);
 	Q_UNUSED(lon);
 	Q_UNUSED(lat);
-    if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
+    if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->frame() == MAV_FRAME_GLOBAL || currentWaypointEditable->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
     {
         // TODO FIXME Calculate distance
         double dist = 0;
@@ -250,7 +250,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
             emit updateStatusString(tr("MissionItem ID mismatch, rejecting waypoint"));
         }
     } else if (systemId == current_partner_systemid
-            && wp->seq < waypointsViewOnly.size() && waypointsViewOnly[wp->seq]->getAction()) {
+            && wp->seq < waypointsViewOnly.size() && waypointsViewOnly[wp->seq]->command()) {
         // 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,
@@ -677,7 +677,7 @@ const QList<MissionItem *> UASWaypointManager::getGlobalFrameWaypointList()
     QList<MissionItem*> wps;
     foreach (MissionItem* wp, waypointsEditable)
     {
-        if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
+        if (wp->frame() == MAV_FRAME_GLOBAL || wp->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
             wps.append(wp);
         }
@@ -693,7 +693,7 @@ const QList<MissionItem *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointL
     QList<MissionItem*> wps;
     foreach (MissionItem* wp, waypointsEditable)
     {
-        if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
+        if ((wp->frame() == MAV_FRAME_GLOBAL || wp->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
         {
             wps.append(wp);
         }
@@ -728,7 +728,7 @@ int UASWaypointManager::getGlobalFrameIndexOf(MissionItem* wp)
     // counting only those in global frame
     int i = 0;
     foreach (MissionItem* p, waypointsEditable) {
-        if (p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
+        if (p->frame() == MAV_FRAME_GLOBAL || wp->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
             if (p == wp)
             {
@@ -747,7 +747,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(MissionItem* wp)
     // counting only those in global frame
     int i = 0;
     foreach (MissionItem* p, waypointsEditable) {
-        if ((p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
+        if ((p->frame() == MAV_FRAME_GLOBAL || wp->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
         {
             if (p == wp)
             {
@@ -787,7 +787,7 @@ int UASWaypointManager::getGlobalFrameCount()
     int i = 0;
     foreach (MissionItem* p, waypointsEditable)
     {
-        if (p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
+        if (p->frame() == MAV_FRAME_GLOBAL || p->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
             i++;
         }
@@ -802,7 +802,7 @@ int UASWaypointManager::getGlobalFrameAndNavTypeCount()
     // counting only those in global frame
     int i = 0;
     foreach (MissionItem* p, waypointsEditable) {
-        if ((p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
+        if ((p->frame() == MAV_FRAME_GLOBAL || p->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
         {
             i++;
         }
@@ -832,7 +832,7 @@ int UASWaypointManager::getLocalFrameCount()
     int i = 0;
     foreach (MissionItem* p, waypointsEditable)
     {
-        if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
+        if (p->frame() == MAV_FRAME_LOCAL_NED || p->frame() == MAV_FRAME_LOCAL_ENU)
         {
             i++;
         }
@@ -848,7 +848,7 @@ int UASWaypointManager::getLocalFrameIndexOf(MissionItem* wp)
     int i = 0;
     foreach (MissionItem* p, waypointsEditable)
     {
-        if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
+        if (p->frame() == MAV_FRAME_LOCAL_NED || p->frame() == MAV_FRAME_LOCAL_ENU)
         {
             if (p == wp)
             {
@@ -868,7 +868,7 @@ int UASWaypointManager::getMissionFrameIndexOf(MissionItem* wp)
     int i = 0;
     foreach (MissionItem* p, waypointsEditable)
     {
-        if (p->getFrame() == MAV_FRAME_MISSION)
+        if (p->frame() == MAV_FRAME_MISSION)
         {
             if (p == wp)
             {
@@ -941,12 +941,12 @@ void UASWaypointManager::goToWaypoint(MissionItem *wp)
 
         mission.autocontinue = 0;
         mission.current = 2; //2 for guided mode
-        mission.param1 = wp->getParam1();
-        mission.param2 = wp->getParam2();
-        mission.param3 = wp->getParam3();
-        mission.param4 = wp->getParam4();
-        mission.frame = wp->getFrame();
-        mission.command = wp->getAction();
+        mission.param1 = wp->param1();
+        mission.param2 = wp->param2();
+        mission.param3 = wp->param3();
+        mission.param4 = wp->param4();
+        mission.frame = wp->frame();
+        mission.command = wp->command();
         mission.seq = 0;     // don't read out the sequence number of the waypoint class
         mission.x = wp->x();
         mission.y = wp->y();
@@ -992,14 +992,14 @@ void UASWaypointManager::writeWaypoints()
                 memset(cur_d, 0, sizeof(mavlink_mission_item_t));   //initialize with zeros
                 const MissionItem *cur_s = waypointsEditable.at(i);
 
-                cur_d->autocontinue = cur_s->getAutoContinue();
+                cur_d->autocontinue = cur_s->autoContinue();
                 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();
-                cur_d->param4 = cur_s->getParam4();
-                cur_d->frame = cur_s->getFrame();
-                cur_d->command = cur_s->getAction();
+                cur_d->param1 = cur_s->param1();
+                cur_d->param2 = cur_s->param2();
+                cur_d->param3 = cur_s->param3();
+                cur_d->param4 = cur_s->param4();
+                cur_d->frame = cur_s->frame();
+                cur_d->command = cur_s->command();
                 cur_d->seq = i;     // don't read out the sequence number of the waypoint class
                 cur_d->x = cur_s->x();
                 cur_d->y = cur_s->y();
@@ -1163,7 +1163,7 @@ float UASWaypointManager::getAltitudeRecommendation()
 int UASWaypointManager::getFrameRecommendation()
 {
     if (waypointsEditable.count() > 0) {
-        return static_cast<int>(waypointsEditable.last()->getFrame());
+        return static_cast<int>(waypointsEditable.last()->frame());
     } else {
         return MAV_FRAME_GLOBAL;
     }
@@ -1173,7 +1173,7 @@ float UASWaypointManager::getAcceptanceRadiusRecommendation()
 {
     if (waypointsEditable.count() > 0)
     {
-        return waypointsEditable.last()->getAcceptanceRadius();
+        return waypointsEditable.last()->acceptanceRadius();
     }
     else
     {

src/ui/HSIDisplay.cc

@@ -1312,7 +1312,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt
     poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
 
     float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
-    float acceptRadius = w->getAcceptanceRadius();
+    float acceptRadius = w->acceptanceRadius();
     double yawDiff = w->yawRadians()/180.0*M_PI-yaw;
 
     // Draw background
@@ -1353,7 +1353,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             const MissionItem *w = list.at(i);
             QPointF in;
             // Use local coordinates as-is.
-            int frameRef = w->getFrame();
+            int frameRef = w->frame();
             if (frameRef == MAV_FRAME_LOCAL_NED)
             {
                 in = QPointF(w->x(), w->y());

src/ui/WaypointEditableView.cc

@@ -93,13 +93,13 @@ WaypointEditableView::WaypointEditableView(MissionItem* wp, QWidget* parent) :
     connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
 
     // Initialize view correctly
-    int actionID = wp->getAction();
+    int actionID = wp->command();
     initializeActionView(actionID);
     updateValues();
     updateActionView(actionID);
 
     // Check for mission frame
-    if (wp->getFrame() == MAV_FRAME_MISSION)
+    if (wp->frame() == MAV_FRAME_MISSION)
     {
         m_ui->comboBox_action->setCurrentIndex(m_ui->comboBox_action->count()-1);
     }
@@ -417,14 +417,14 @@ void WaypointEditableView::updateValues()
 
 
     // update frame
-    MAV_FRAME frame = (MAV_FRAME)wp->getFrame();
+    MAV_FRAME frame = (MAV_FRAME)wp->frame();
     int frame_index = m_ui->comboBox_frame->findData(frame);
     if (m_ui->comboBox_frame->currentIndex() != frame_index) {
         m_ui->comboBox_frame->setCurrentIndex(frame_index);
     }
 
     // Update action
-    MAV_CMD action = (MAV_CMD)wp->getAction();
+    MAV_CMD action = (MAV_CMD)wp->command();
     int action_index = m_ui->comboBox_action->findData(action);
     if (m_ui->comboBox_action->currentIndex() != action_index)
     {
@@ -440,15 +440,15 @@ void WaypointEditableView::updateValues()
         }
     }
 
-    emit commandBroadcast(wp->getAction());
-    emit frameBroadcast((MAV_FRAME)wp->getFrame());
-    emit param1Broadcast(wp->getParam1());
-    emit param2Broadcast(wp->getParam2());
-    emit param3Broadcast(wp->getParam3());
-    emit param4Broadcast(wp->getParam4());
-    emit param5Broadcast(wp->getParam5());
-    emit param6Broadcast(wp->getParam6());
-    emit param7Broadcast(wp->getParam7());
+    emit commandBroadcast(wp->command());
+    emit frameBroadcast((MAV_FRAME)wp->frame());
+    emit param1Broadcast(wp->param1());
+    emit param2Broadcast(wp->param2());
+    emit param3Broadcast(wp->param3());
+    emit param4Broadcast(wp->param4());
+    emit param5Broadcast(wp->param5());
+    emit param6Broadcast(wp->param6());
+    emit param7Broadcast(wp->param7());
 
 
     if (m_ui->selectedBox->isChecked() != wp->isCurrentItem())
@@ -458,9 +458,9 @@ void WaypointEditableView::updateValues()
         m_ui->selectedBox->setChecked(wp->isCurrentItem());
         m_ui->selectedBox->blockSignals(false);
     }
-    if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
+    if (m_ui->autoContinue->isChecked() != wp->autoContinue())
     {
-        m_ui->autoContinue->setChecked(wp->getAutoContinue());
+        m_ui->autoContinue->setChecked(wp->autoContinue());
     }
 
     m_ui->idLabel->setText(QString::number(wp->sequenceNumber()));

src/ui/WaypointList.cc

@@ -268,7 +268,7 @@ void WaypointList::addEditable(bool onCurrentPosition)
         MissionItem *last = waypoints.last();
         wp = WPM->createWaypoint();
 //        wp->blockSignals(true);
-        MAV_FRAME frame = (MAV_FRAME)last->getFrame();
+        MAV_FRAME frame = (MAV_FRAME)last->frame();
         wp->setFrame(frame);
         if (frame == MAV_FRAME_GLOBAL || frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
@@ -280,13 +280,13 @@ void WaypointList::addEditable(bool onCurrentPosition)
             wp->setY(last->y());
             wp->setZ(last->z());
         }
-        wp->setParam1(last->getParam1());
-        wp->setParam2(last->getParam2());
-        wp->setParam3(last->getParam3());
-        wp->setParam4(last->getParam4());
-        wp->setAutocontinue(last->getAutoContinue());
+        wp->setParam1(last->param1());
+        wp->setParam2(last->param2());
+        wp->setParam3(last->param3());
+        wp->setParam4(last->param4());
+        wp->setAutocontinue(last->autoContinue());
 //        wp->blockSignals(false);
-        wp->setAction(last->getAction());
+        wp->setAction(last->command());
 //        WPM->addWaypointEditable(wp);
     }
     else

src/ui/map/QGCMapWidget.cc

@@ -678,7 +678,7 @@ void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp)
     if (currWPManager)
     {
         // Only accept waypoints in global coordinate frame
-        if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType())
+        if (((wp->frame() == MAV_FRAME_GLOBAL) || (wp->frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType())
         {
             // We're good, this is a global waypoint
 

src/ui/map/Waypoint2DIcon.cc

@@ -98,11 +98,11 @@ QRectF Waypoint2DIcon::boundingRect() const
     internals::PointLatLng coord = (internals::PointLatLng)Coord();
 
     if (!waypoint.isNull()) {
-        if (showAcceptanceRadius && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT))
+        if (showAcceptanceRadius && (waypoint->command() == (int)MAV_CMD_NAV_WAYPOINT))
         {
-            acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), coord);
+            acceptance = map->metersToPixels(waypoint->acceptanceRadius(), coord);
         }
-        if (((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+        if (((waypoint->command() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TURNS)))
         {
             loiter = map->metersToPixels(waypoint->loiterOrbitRadius(), coord);
         }
@@ -159,12 +159,12 @@ void Waypoint2DIcon::drawIcon()
     // or it is a waypoint, but not one where direction has no meaning
     // then draw the heading indicator
     if (waypoint.isNull() || (waypoint && (
-            (waypoint->getAction() != (int)MAV_CMD_NAV_TAKEOFF) &&
-            (waypoint->getAction() != (int)MAV_CMD_NAV_LAND) &&
-            (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_UNLIM) &&
-            (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TIME) &&
-            (waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_TURNS) &&
-            (waypoint->getAction() != (int)MAV_CMD_NAV_RETURN_TO_LAUNCH)
+            (waypoint->command() != (int)MAV_CMD_NAV_TAKEOFF) &&
+            (waypoint->command() != (int)MAV_CMD_NAV_LAND) &&
+            (waypoint->command() != (int)MAV_CMD_NAV_LOITER_UNLIM) &&
+            (waypoint->command() != (int)MAV_CMD_NAV_LOITER_TIME) &&
+            (waypoint->command() != (int)MAV_CMD_NAV_LOITER_TURNS) &&
+            (waypoint->command() != (int)MAV_CMD_NAV_RETURN_TO_LAUNCH)
             )))
     {
         painter.setPen(pen1);
@@ -173,7 +173,7 @@ void Waypoint2DIcon::drawIcon()
         painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()/180.0f*M_PI) * rad, p.y()-cos(Heading()/180.0f*M_PI) * rad);
     }
 
-    if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF))
+    if (((!waypoint.isNull())) && (waypoint->command() == (int)MAV_CMD_NAV_TAKEOFF))
     {
         // Takeoff waypoint
         int width = picture.width()-penWidth;
@@ -189,7 +189,7 @@ void Waypoint2DIcon::drawIcon()
         painter.setPen(pen2);
         painter.drawRect(width*0.3, height*0.3f, width*0.6f, height*0.6f);
     }
-    else if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
+    else if (((!waypoint.isNull())) && (waypoint->command() == (int)MAV_CMD_NAV_LAND))
     {
         // Landing waypoint
         int width = (picture.width())/2-penWidth;
@@ -201,7 +201,7 @@ void Waypoint2DIcon::drawIcon()
         painter.drawEllipse(p, width, height);
         painter.drawLine(p.x()-width/2, p.y()-height/2, 2*width, 2*height);
     }
-    else if (((!waypoint.isNull())) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+    else if (((!waypoint.isNull())) && ((waypoint->command() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TURNS)))
     {
         // Loiter waypoint
         int width = (picture.width()-penWidth)/2;
@@ -213,7 +213,7 @@ void Waypoint2DIcon::drawIcon()
         painter.drawEllipse(p, width, height);
         painter.drawPoint(p);
     }
-    else if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_RETURN_TO_LAUNCH))
+    else if (((!waypoint.isNull())) && (waypoint->command() == (int)MAV_CMD_NAV_RETURN_TO_LAUNCH))
     {
         // Return to launch waypoint
         int width = picture.width()-penWidth;
@@ -286,13 +286,13 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
     penBlack.setWidth(4);
     pen.setColor(color);
 
-    if ((!waypoint.isNull()) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
+    if ((!waypoint.isNull()) && (waypoint->command() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
     {
         QPen redPen = QPen(pen);
         redPen.setColor(Qt::yellow);
         redPen.setWidth(1);
         painter->setPen(redPen);
-        const int acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), Coord());
+        const int acceptance = map->metersToPixels(waypoint->acceptanceRadius(), Coord());
         if (acceptance > 0) {
             painter->setPen(penBlack);
             painter->drawEllipse(QPointF(0, 0), acceptance, acceptance);
@@ -300,7 +300,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
             painter->drawEllipse(QPointF(0, 0), acceptance, acceptance);
         }
     }
-    if ((!waypoint.isNull()) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+    if ((!waypoint.isNull()) && ((waypoint->command() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->command() == (int)MAV_CMD_NAV_LOITER_TURNS)))
     {
         QPen penDash(color);
         penDash.setWidth(1);