Added "Onboard Waypoints"-support for all loiter commands

src/ui/WaypointEditableView.cc

@@ -34,7 +34,6 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
 
     // CUSTOM COMMAND WIDGET
     customCommand->setupUi(m_ui->customActionWidget);
-
     // add actions
     m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
     m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
@@ -43,7 +42,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_action->addItem(tr("NAV: Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
     m_ui->comboBox_action->addItem(tr("NAV: Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
     m_ui->comboBox_action->addItem(tr("NAV: Land"),MAV_CMD_NAV_LAND);
-//    m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
+    //m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
     //m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
     //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
     //m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);

src/ui/WaypointEditableView.h

@@ -49,7 +49,6 @@ namespace Ui
 class WaypointEditableView;
 }
 class Ui_QGCCustomWaypointAction;
-
 class WaypointEditableView : public QWidget
 {
     Q_OBJECT
@@ -83,7 +82,7 @@ protected:
     Waypoint* wp;
     // Special widgets extendending the
     // waypoint view to mission capabilities
-    Ui_QGCCustomWaypointAction* customCommand;
+    Ui_QGCCustomWaypointAction* customCommand;    
     QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
 
 private:

src/ui/WaypointEditableView.ui

@@ -465,16 +465,16 @@ QPushButton:pressed {
          <enum>Qt::StrongFocus</enum>
         </property>
         <property name="toolTip">
-         <string>Loiter radius</string>
+         <string>Loiter radius. Negative for counter-clockwise</string>
         </property>
         <property name="statusTip">
-         <string>Loiter radius</string>
+         <string>Loiter radius. Negative for counter-clockwise</string>
         </property>
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="minimum">
-         <double>0.050000000000000</double>
+         <double>-5000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>5000.000000000000000</double>
@@ -519,11 +519,10 @@ where to accept this waypoint as reached</string>
          </sizepolicy>
         </property>
         <property name="toolTip">
-         <string>Rotaty wing and ground vehicles only:
-Time to stay at this position before advancing</string>
+         <string>Time to stay/loiter at this position before advancing</string>
         </property>
         <property name="statusTip">
-         <string>Rotaty wing and ground vehicles only: Time to stay at this position before advancing</string>
+         <string>Time to stay/loiter at this position before advancing</string>
         </property>
         <property name="suffix">
          <string> s</string>

src/ui/WaypointViewOnlyView.cc

@@ -209,6 +209,110 @@ void WaypointViewOnlyView::updateValues()
         } //end Frame switch
         break;
     }
+    case MAV_CMD_NAV_LOITER_UNLIM:
+    {
+        switch (wp->getFrame())
+        {
+        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        case MAV_FRAME_GLOBAL:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()));
+            }
+            break;
+        }
+        case MAV_FRAME_LOCAL_NED:
+        default:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()));
+            }
+            break;
+        }
+        } //end Frame switch
+        break;
+    }
+    case MAV_CMD_NAV_LOITER_TURNS:
+    {
+        switch (wp->getFrame())
+        {
+        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        case MAV_FRAME_GLOBAL:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1()));
+            }
+            break;
+        }
+        case MAV_FRAME_LOCAL_NED:
+        default:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1()));
+            }
+            break;
+        }
+        } //end Frame switch
+        break;
+    }
+    case MAV_CMD_NAV_LOITER_TIME:
+    {
+        switch (wp->getFrame())
+        {
+        case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        case MAV_FRAME_GLOBAL:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(wp->getParam3()).arg(wp->getParam1()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 7).arg(wp->getY(),0, 'f', 7).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1()));
+            }
+            break;
+        }
+        case MAV_FRAME_LOCAL_NED:
+        default:
+        {
+            if (wp->getParam3()>=0)
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
+            }
+            else
+            {
+                m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0, 'f', 2).arg(wp->getY(),0, 'f', 2).arg(wp->getZ(),0, 'f', 2).arg(-wp->getParam3()).arg(wp->getParam1()));
+            }
+            break;
+        }
+        } //end Frame switch
+        break;
+    }
+    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+    {
+        m_ui->displayBar->setText(QString("Return to launch location"));
+        break;
+    }
     case MAV_CMD_NAV_LAND:
     {        
         switch (wp->getFrame())