Fixed waypoint interface to adhere to specs, fixed param name length

src/Waypoint.cc

@@ -124,6 +124,33 @@ void Waypoint::setZ(double z)
     }
 }
 
+void Waypoint::setLatitude(double lat)
+{
+    if (this->x != lat)
+    {
+        this->x = lat;
+        emit changed(this);
+    }
+}
+
+void Waypoint::setLongitude(double lon)
+{
+    if (this->y != lon)
+    {
+        this->y = lon;
+        emit changed(this);
+    }
+}
+
+void Waypoint::setAltitude(double altitude)
+{
+    if (this->z != altitude)
+    {
+        this->z = altitude;
+        emit changed(this);
+    }
+}
+
 void Waypoint::setYaw(double yaw)
 {
     if (this->yaw != yaw)

src/Waypoint.h

@@ -52,6 +52,9 @@ public:
     double getX() const { return x; }
     double getY() const { return y; }
     double getZ() const { return z; }
+    double getLatitude() const { return x; }
+    double getLongitude() const { return y; }
+    double getAltitude() const { return z; }
     double getYaw() const { return yaw; }
     bool getAutoContinue() const { return autocontinue; }
     bool getCurrent() const { return current; }
@@ -95,6 +98,9 @@ public slots:
     void setX(double x);
     void setY(double y);
     void setZ(double z);
+    void setLatitude(double lat);
+    void setLongitude(double lon);
+    void setAltitude(double alt);
     void setYaw(double yaw);
     /** @brief Set the waypoint action */
     void setAction(int action);

src/comm/MAVLinkSimulationMAV.cc

@@ -15,8 +15,8 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
         latitude(lat),
         longitude(lon),
         altitude(0.0),
-        x(lon),
-        y(lat),
+        x(lat),
+        y(lon),
         z(550),
         roll(0.0),
         pitch(0.0),
@@ -133,8 +133,8 @@ void MAVLinkSimulationMAV::mainloop()
         mavlink_message_t msg;
         mavlink_global_position_int_t pos;
         pos.alt = z*1000.0;
-        pos.lat = y*1E7;
-        pos.lon = x*1E7;
+        pos.lat = x*1E7;
+        pos.lon = y*1E7;
         pos.vx = 10.0f*100.0f;
         pos.vy = 0;
         pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
@@ -147,7 +147,7 @@ void MAVLinkSimulationMAV::mainloop()
         attitude.usec = 0;
         attitude.roll = 0.0f;
         attitude.pitch = 0.0f;
-        attitude.yaw = yaw;
+        attitude.yaw = yaw-M_PI_2;
         attitude.rollspeed = 0.0f;
         attitude.pitchspeed = 0.0f;
         attitude.yawspeed = 0.0f;

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -573,8 +573,8 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
                                 mavlink_global_position_int_t pos;
                                 mavlink_msg_global_position_int_decode(msg, &pos);
 
-                                float x = static_cast<double>(pos.lon)/1E7;
-                                float y = static_cast<double>(pos.lat)/1E7;
+                                float x = static_cast<double>(pos.lat)/1E7;
+                                float y = static_cast<double>(pos.lon)/1E7;
                                 float z = static_cast<double>(pos.alt)/1000;
 
                                 qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;

src/uas/UAS.cc

@@ -678,8 +678,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_param_value_t value;
                 mavlink_msg_param_value_decode(&message, &value);
-
-                QString parameterName = QString((char*)value.param_id);
+                QByteArray bytes((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+                QString parameterName = QString(bytes);
                 int component = message.compid;
                 float val = value.param_value;
 

src/ui/MapWidget.cc

@@ -417,7 +417,15 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
 
         if (mav)
         {
-            mav->getWaypointManager()->addWaypoint(new Waypoint(mav->getWaypointManager()->getWaypointList().count(), coordinate.x(), coordinate.y(), 0.0f, 0.0f, true));
+            double altitude = 0.0;
+            double yaw = 0.0;
+            int wpListCount = mav->getWaypointManager()->getWaypointList().count();
+            if (wpListCount > 0)
+            {
+                altitude = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getAltitude();
+                yaw = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getYaw();
+            }
+            mav->getWaypointManager()->addWaypoint(new Waypoint(wpListCount, coordinate.y(), coordinate.x(), altitude, yaw, true));
         }
         else
         {
@@ -472,8 +480,8 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
             {
                 // Waypoint is new, a new icon is created
                 QPointF coordinate;
-                coordinate.setX(wp->getX());
-                coordinate.setY(wp->getY());
+                coordinate.setX(wp->getLongitude());
+                coordinate.setY(wp->getLatitude());
                 createWaypointGraphAtMap(wpindex, coordinate);
             }
             else
@@ -483,8 +491,8 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
                 if(!waypointIsDrag)
                 {
                     QPointF coordinate;
-                    coordinate.setX(wp->getX());
-                    coordinate.setY(wp->getY());
+                    coordinate.setX(wp->getLongitude());
+                    coordinate.setY(wp->getLatitude());
 
                     Point* waypoint;
                     waypoint = wps.at(wpindex);
@@ -624,8 +632,8 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
             if (wps.size() > index)
             {
                 Waypoint* wp = wps.at(index);
-                wp->setX(coordinate.x());
-                wp->setY(coordinate.y());
+                wp->setLatitude(coordinate.y());
+                wp->setLongitude(coordinate.x());
                 mav->getWaypointManager()->notifyOfChange(wp);
             }
         }

src/ui/WaypointList.cc

@@ -188,7 +188,7 @@ void WaypointList::add()
         else
         {
             // Create global frame waypoint per default
-            wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
+            wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
             uas->getWaypointManager()->addWaypoint(wp);
         }
     }

src/ui/WaypointView.cc

@@ -76,8 +76,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
-    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
-    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
+    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
+    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
     //hidden degree to radian conversion of the yaw angle
@@ -267,6 +267,10 @@ void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
     switch (mode)
     {
     case QGC_WAYPOINTVIEW_MODE_NAV:
+    case QGC_WAYPOINTVIEW_MODE_CONDITION:
+        // Hide everything, show condition widget
+        // TODO
+    case QGC_WAYPOINTVIEW_MODE_DO:
 
         break;
     case QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING:
@@ -399,13 +403,13 @@ void WaypointView::updateValues()
         break;
     case(MAV_FRAME_GLOBAL):
         {
-            if (m_ui->lonSpinBox->value() != wp->getX())
+            if (m_ui->latSpinBox->value() != wp->getX())
             {
-                m_ui->lonSpinBox->setValue(wp->getX());
+                m_ui->latSpinBox->setValue(wp->getX());
             }
-            if (m_ui->latSpinBox->value() != wp->getY())
+            if (m_ui->lonSpinBox->value() != wp->getY())
             {
-                m_ui->latSpinBox->setValue(wp->getY());
+                m_ui->lonSpinBox->setValue(wp->getY());
             }
             if (m_ui->altSpinBox->value() != wp->getZ())
             {