Merged Trofs WP improvements

qgroundcontrol.pro

@@ -226,12 +226,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/designer/QGCCommandButton.ui \
     src/ui/QGCMAVLinkLogPlayer.ui \
     src/ui/QGCWaypointListMulti.ui \
-    src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
     src/ui/QGCSettingsWidget.ui \
     src/ui/UASControlParameters.ui \
-    src/ui/mission/QGCMissionDoWidget.ui \
-    src/ui/mission/QGCMissionConditionWidget.ui \
     src/ui/map/QGCMapTool.ui \
     src/ui/map/QGCMapToolBar.ui \
     src/ui/QGCMAVLinkInspector.ui \
@@ -241,7 +238,20 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mavlink/QGCMAVLinkMessageSender.ui \
     src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
     src/ui/QGCPluginHost.ui \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
+    src/ui/mission/QGCMissionOther.ui \
+    src/ui/mission/QGCMissionNavWaypoint.ui \
+    src/ui/mission/QGCMissionDoJump.ui \
+    src/ui/mission/QGCMissionConditionDelay.ui \
+    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
+    src/ui/mission/QGCMissionNavLoiterTurns.ui \
+    src/ui/mission/QGCMissionNavLoiterTime.ui \
+    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
+    src/ui/mission/QGCMissionNavLand.ui \
+    src/ui/mission/QGCMissionNavTakeoff.ui \
+    src/ui/mission/QGCMissionNavSweep.ui \
+    src/ui/mission/QGCMissionDoStartSearch.ui \
+    src/ui/mission/QGCMissionDoFinishSearch.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -256,6 +266,7 @@ INCLUDEPATH += src \
     src/ui/param \
     src/ui/watchdog \
     src/ui/map3D \
+    src/ui/mission \
     src/ui/designer
 HEADERS += src/MG.h \
     src/QGCCore.h \
@@ -342,8 +353,6 @@ HEADERS += src/MG.h \
     src/ui/QGCUDPLinkConfiguration.h \
     src/ui/QGCSettingsWidget.h \
     src/ui/uas/UASControlParameters.h \
-    src/ui/mission/QGCMissionDoWidget.h \
-    src/ui/mission/QGCMissionConditionWidget.h \
     src/uas/QGCUASParamManager.h \
     src/ui/map/QGCMapWidget.h \
     src/ui/map/MAV2DIcon.h \
@@ -363,7 +372,21 @@ HEADERS += src/MG.h \
     src/ui/mavlink/QGCMAVLinkMessageSender.h \
     src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
     src/ui/QGCPluginHost.h \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
+    src/ui/map3D/gpl.h\
+    src/ui/mission/QGCMissionOther.h \
+    src/ui/mission/QGCMissionNavWaypoint.h \
+    src/ui/mission/QGCMissionDoJump.h \
+    src/ui/mission/QGCMissionConditionDelay.h \
+    src/ui/mission/QGCMissionNavLoiterUnlim.h \
+    src/ui/mission/QGCMissionNavLoiterTurns.h \
+    src/ui/mission/QGCMissionNavLoiterTime.h \
+    src/ui/mission/QGCMissionNavReturnToLaunch.h \
+    src/ui/mission/QGCMissionNavLand.h \
+    src/ui/mission/QGCMissionNavTakeoff.h \
+    src/ui/mission/QGCMissionNavSweep.h \
+    src/ui/mission/QGCMissionDoStartSearch.h \
+    src/ui/mission/QGCMissionDoFinishSearch.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -488,8 +511,6 @@ SOURCES += src/main.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
     src/ui/QGCSettingsWidget.cc \
     src/ui/uas/UASControlParameters.cpp \
-    src/ui/mission/QGCMissionDoWidget.cc \
-    src/ui/mission/QGCMissionConditionWidget.cc \
     src/uas/QGCUASParamManager.cc \
     src/ui/map/QGCMapWidget.cc \
     src/ui/map/MAV2DIcon.cc \
@@ -506,7 +527,21 @@ SOURCES += src/main.cc \
     src/ui/mavlink/QGCMAVLinkMessageSender.cc \
     src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
     src/ui/QGCPluginHost.cc \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
+    src/ui/map3D/gpl.cc \
+    src/ui/mission/QGCMissionOther.cc \
+    src/ui/mission/QGCMissionNavWaypoint.cc \
+    src/ui/mission/QGCMissionDoJump.cc \
+    src/ui/mission/QGCMissionConditionDelay.cc \
+    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
+    src/ui/mission/QGCMissionNavLoiterTurns.cc \
+    src/ui/mission/QGCMissionNavLoiterTime.cc \
+    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
+    src/ui/mission/QGCMissionNavLand.cc \
+    src/ui/mission/QGCMissionNavTakeoff.cc \
+    src/ui/mission/QGCMissionNavSweep.cc \
+    src/ui/mission/QGCMissionDoStartSearch.cc \
+    src/ui/mission/QGCMissionDoFinishSearch.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/uas/UASWaypointManager.cc

@@ -871,8 +871,10 @@ void UASWaypointManager::writeWaypoints()
             //send the waypoint count to UAS (this starts the send transaction)
             sendWaypointCount();
         }
-    } else if (waypointsEditable.count() == 0) {
+        else if (waypointsEditable.count() == 0)
+        {
             sendWaypointClearAll();
+        }
     } else {
         //we're in another transaction, ignore command
         qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command";

src/ui/WaypointEditableView.h

@@ -27,7 +27,7 @@ This file is part of the QGROUNDCONTROL project
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
  *   @author Petri Tanskanen <mavteam@student.ethz.ch>
- *
+ *   @author Alex Trofimov <talex@student.ethz.ch>
  */
 
 #ifndef WAYPOINTEDITABLEVIEW_H
@@ -38,9 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <iostream>
 
 enum QGC_WAYPOINTEDITABLEVIEW_MODE {
-    QGC_WAYPOINTEDITABLEVIEW_MODE_NAV,
-    QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION,
-    QGC_WAYPOINTEDITABLEVIEW_MODE_DO,
+    QGC_WAYPOINTEDITABLEVIEW_MODE_DEFAULT,
     QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING
 };
 
@@ -48,8 +46,20 @@ namespace Ui
 {
 class WaypointEditableView;
 }
-class Ui_QGCCustomWaypointAction;
-class Ui_QGCMissionDoWidget;
+class QGCMissionNavWaypoint;
+class QGCMissionNavLoiterUnlim;
+class QGCMissionNavLoiterTurns;
+class QGCMissionNavLoiterTime;
+class QGCMissionNavReturnToLaunch;
+class QGCMissionNavLand;
+class QGCMissionNavTakeoff;
+class QGCMissionNavSweep;
+class QGCMissionDoJump;
+class QGCMissionDoStartSearch;
+class QGCMissionDoFinishSearch;
+class QGCMissionConditionDelay;
+class QGCMissionOther;
+
 class WaypointEditableView : public QWidget
 {
     Q_OBJECT
@@ -68,24 +78,43 @@ public slots:
     /** @brief Waypoint matching this widget has been deleted */
     void deleted(QObject* waypoint);
     void changedAutoContinue(int);    
-    void updateFrameView(int frame);
     void changedFrame(int state);
     void updateActionView(int action);
-    void changedAction(int state);
+    void initializeActionView(int action);
+
     void changedCurrent(int);
     void updateValues(void);
+    void changedAction(int state); //change commandID, including the view
+    void changedCommand(int mav_cmd_id); //only update WP->command, but do not change the view. Should only be used for "other" waypoint-type.
+    void changedParam1(double value);
+    void changedParam2(double value);
+    void changedParam3(double value);
+    void changedParam4(double value);
+    void changedParam5(double value);
+    void changedParam6(double value);
+    void changedParam7(double value);
 
 protected slots:
-    void changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode);
 
 protected:
     virtual void changeEvent(QEvent *e);
     Waypoint* wp;
-    // Special widgets extendending the
-    // waypoint view to mission capabilities
-    Ui_QGCCustomWaypointAction* customCommand;
-    Ui_QGCMissionDoWidget* doCommand;
     QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
+    // Widgets for every mission element
+    QGCMissionNavWaypoint* MissionNavWaypointWidget;
+    QGCMissionNavLoiterUnlim* MissionNavLoiterUnlimWidget;
+    QGCMissionNavLoiterTurns* MissionNavLoiterTurnsWidget;
+    QGCMissionNavLoiterTime* MissionNavLoiterTimeWidget;
+    QGCMissionNavReturnToLaunch* MissionNavReturnToLaunchWidget;
+    QGCMissionNavLand* MissionNavLandWidget;
+    QGCMissionNavTakeoff* MissionNavTakeoffWidget;
+    QGCMissionNavSweep* MissionNavSweepWidget;
+    QGCMissionDoJump* MissionDoJumpWidget;
+    QGCMissionDoStartSearch* MissionDoStartSearchWidget;
+    QGCMissionDoFinishSearch* MissionDoFinishSearchWidget;
+    QGCMissionConditionDelay* MissionConditionDelayWidget;
+    QGCMissionOther* MissionOtherWidget;
+
 
 private:
     Ui::WaypointEditableView *m_ui;
@@ -94,9 +123,18 @@ signals:
     void moveUpWaypoint(Waypoint*);
     void moveDownWaypoint(Waypoint*);
     void removeWaypoint(Waypoint*);    
-    //void currentWaypointChanged(quint16); //unused
     void changeCurrentWaypoint(quint16);
     void setYaw(double);
+
+    void commandBroadcast(int mav_cmd_id);
+    void frameBroadcast(MAV_FRAME frame);
+    void param1Broadcast(double value);
+    void param2Broadcast(double value);
+    void param3Broadcast(double value);
+    void param4Broadcast(double value);
+    void param5Broadcast(double value);
+    void param6Broadcast(double value);
+    void param7Broadcast(double value);
 };
 
 #endif // WAYPOINTEDITABLEVIEW_H

src/ui/WaypointList.cc

@@ -248,7 +248,12 @@ void WaypointList::addEditable()
                 // Create first waypoint at current MAV position
                 if (uas->localPositionKnown() || uas->globalPositionKnown())
                 {
-                    addCurrentPositionWaypoint();
+                	if(addCurrentPositionWaypoint())
+                	{
+                 	   updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
+                 	  wp = new Waypoint(0, 0, 0, -0.50, 0, 0.20, 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                 	  WPM->addWaypointEditable(wp);
+                	}
                 }
                 else
                 {
@@ -282,7 +287,7 @@ void WaypointList::addEditable()
 }
 
 
-void WaypointList::addCurrentPositionWaypoint()
+int WaypointList::addCurrentPositionWaypoint()
 {    
     if (uas)
     {
@@ -309,6 +314,7 @@ void WaypointList::addCurrentPositionWaypoint()
             wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
             updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
+            return 0;
         }
         else if (uas->localPositionKnown())
         {
@@ -323,11 +329,13 @@ void WaypointList::addCurrentPositionWaypoint()
             wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, false, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
             updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
+            return 0;
         }
         else
         {
             // Do nothing
             updateStatusLabel(tr("Not adding waypoint, no position of MAV known yet."));
+            return 1;
         }
     }
 }

src/ui/WaypointList.h

@@ -78,10 +78,8 @@ public slots:
     void refresh();
     /** @brief Add a waypoint to "edit"-tab */
     void addEditable(); 
-    /** @brief Add a waypoint to "view"-tab */
-   // void addViewOnly();
     /** @brief Add a waypoint at the current MAV position */
-    void addCurrentPositionWaypoint();
+    int addCurrentPositionWaypoint();
     /** @brief Add a waypoint by mouse click over the map */
 
     //Update events

src/ui/WaypointViewOnlyView.cc

@@ -28,7 +28,7 @@ void WaypointViewOnlyView::changedAutoContinue(int state)
 void WaypointViewOnlyView::changedCurrent(int state)
 //This is a slot receiving signals from QCheckBox m_ui->current. The state given here is whatever the user has clicked and not the true "current" value onboard.
 {
-    qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
+    //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
     m_ui->current->blockSignals(true);    
 
     if (m_ui->current->isChecked() == false)
@@ -36,19 +36,19 @@ void WaypointViewOnlyView::changedCurrent(int state)
         if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current. Box stays checked
         {
             m_ui->current->setCheckState(Qt::Checked);
-            qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Rechecked true. stay true " << m_ui->current->isChecked();
+            //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Rechecked true. stay true " << m_ui->current->isChecked();
         }
         else // Strange case, unchecking the box which was not checked to start with
         {
             m_ui->current->setCheckState(Qt::Unchecked);
-            qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Unchecked false. set false " << m_ui->current->isChecked();
+            //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Unchecked false. set false " << m_ui->current->isChecked();
         }
     }
     else
     {
         hightlightDesiredCurrent(true);
         m_ui->current->setCheckState(Qt::Unchecked);
-        qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Checked new. Sending set_current request to Manager " << m_ui->current->isChecked();
+        //qDebug() << "Trof: WaypointViewOnlyView::changedCurrent. Checked new. Sending set_current request to Manager " << m_ui->current->isChecked();
         emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
 
     }
@@ -365,17 +365,18 @@ void WaypointViewOnlyView::updateValues()
         m_ui->displayBar->setText(QString("Delay: %1 sec").arg(wp->getParam1()));
         break;
     }
-    case 237: //MAV_CMD_DO_START_SEARCH
+#ifdef MAVLINK_ENABLED_PIXHAWK
+    case MAV_CMD_DO_START_SEARCH:
     {
         m_ui->displayBar->setText(QString("Start searching for pattern. Success when got more than %2 detections with confidence %1").arg(wp->getParam1()).arg(wp->getParam2()));
         break;
     }
-    case 238: //MAV_CMD_DO_FINISH_SEARCH
+    case MAV_CMD_DO_FINISH_SEARCH:
     {
         m_ui->displayBar->setText(QString("Check if search was successful. yes -> jump to %1, no -> jump to %2.  Jumps left: %3").arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()));
         break;
     }
-    case 240: //MAV_CMD_DO_SWEEP
+    case MAV_CMD_NAV_SWEEP:
     {
         switch (wp->getFrame())
         {
@@ -394,6 +395,7 @@ void WaypointViewOnlyView::updateValues()
         } //end Frame switch
         break;
     }
+#endif
     default:
     {
         m_ui->displayBar->setText(QString("Unknown Command ID (%1) : %2, %3, %4, %5, %6, %7, %8").arg(wp->getAction()).arg(wp->getParam1()).arg(wp->getParam2()).arg(wp->getParam3()).arg(wp->getParam4()).arg(wp->getParam5()).arg(wp->getParam6()).arg(wp->getParam7()));

src/ui/WaypointViewOnlyView.ui

@@ -606,6 +606,9 @@ margin-top: 1ex; /* leave space at the top for the title */
       </item>
       <item>
        <widget class="QCheckBox" name="autoContinue">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
         <property name="sizePolicy">
          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
           <horstretch>0</horstretch>
@@ -621,6 +624,9 @@ margin-top: 1ex; /* leave space at the top for the title */
         <property name="text">
          <string/>
         </property>
+        <property name="checkable">
+         <bool>true</bool>
+        </property>
        </widget>
       </item>
      </layout>

src/ui/mission/QGCMissionConditionDelay.cc

+#include "QGCMissionConditionDelay.h"
+#include "ui_QGCMissionConditionDelay.h"
+#include "WaypointEditableView.h"
+
+QGCMissionConditionDelay::QGCMissionConditionDelay(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionConditionDelay)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionConditionDelay::~QGCMissionConditionDelay()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionConditionDelay.h

+#ifndef QGCMISSIONCONDITIONDELAY_H
+#define QGCMISSIONCONDITIONDELAY_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionConditionDelay;
+}
+
+class QGCMissionConditionDelay : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionConditionDelay(WaypointEditableView* WEV);
+    ~QGCMissionConditionDelay();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionConditionDelay *ui;
+};
+
+#endif // QGCMISSIONCONDITIONDELAY_H

src/ui/mission/QGCMissionConditionDelay.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionConditionDelay</class>
+ <widget class="QWidget" name="QGCMissionConditionDelay">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>448</width>
+    <height>37</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Delay duration</string>
+     </property>
+     <property name="statusTip">
+      <string>Delay duration</string>
+     </property>
+     <property name="wrapping">
+      <bool>false</bool>
+     </property>
+     <property name="frame">
+      <bool>true</bool>
+     </property>
+     <property name="accelerated">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Duration: </string>
+     </property>
+     <property name="suffix">
+      <string>s</string>
+     </property>
+     <property name="decimals">
+      <number>2</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionConditionWidget.cc

-#include "QGCMissionConditionWidget.h"
-#include "ui_QGCMissionConditionWidget.h"
-
-QGCMissionConditionWidget::QGCMissionConditionWidget(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCMissionConditionWidget)
-{
-    ui->setupUi(this);
-}
-
-QGCMissionConditionWidget::~QGCMissionConditionWidget()
-{
-    delete ui;
-}

src/ui/mission/QGCMissionConditionWidget.h

-#ifndef QGCMISSIONCONDITIONWIDGET_H
-#define QGCMISSIONCONDITIONWIDGET_H
-
-#include <QWidget>
-
-namespace Ui
-{
-class QGCMissionConditionWidget;
-}
-
-class QGCMissionConditionWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QGCMissionConditionWidget(QWidget *parent = 0);
-    ~QGCMissionConditionWidget();
-
-private:
-    Ui::QGCMissionConditionWidget *ui;
-};
-
-#endif // QGCMISSIONCONDITIONWIDGET_H

src/ui/mission/QGCMissionDoFinishSearch.cc

+#include "QGCMissionDoFinishSearch.h"
+#include "ui_QGCMissionDoFinishSearch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoFinishSearch::QGCMissionDoFinishSearch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoFinishSearch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    //connect(this->ui->param4SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    //connect(this->ui->param5SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    //connect(this->ui->param6SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    //connect(this->ui->param7SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->param4SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->param5SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->param6SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->param7SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoFinishSearch::~QGCMissionDoFinishSearch()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoFinishSearch.h

+#ifndef QGCMISSIONDOFINISHSEARCH_H
+#define QGCMISSIONDOFINISHSEARCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+namespace Ui {
+    class QGCMissionDoFinishSearch;
+}
+
+class QGCMissionDoFinishSearch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoFinishSearch(WaypointEditableView* WEV);
+    ~QGCMissionDoFinishSearch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoFinishSearch *ui;
+};
+
+#endif // QGCMISSIONDOFINISHSEARCH_H

src/ui/mission/QGCMissionConditionWidget.ui → src/ui/mission/QGCMissionDoFinishSearch.ui

 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>QGCMissionConditionWidget</class>
- <widget class="QWidget" name="QGCMissionConditionWidget">
+ <class>QGCMissionDoFinishSearch</class>
+ <widget class="QWidget" name="QGCMissionDoFinishSearch">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1260</width>
-    <height>31</height>
+    <width>499</width>
+    <height>27</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10">
    <property name="spacing">
-    <number>4</number>
+    <number>5</number>
    </property>
    <property name="margin">
     <number>0</number>
    </property>
    <item>
-    <widget class="QDoubleSpinBox" name="conditionDelayTimeSpinBox">
-     <property name="prefix">
-      <string>delay: </string>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="toolTip">
+      <string>Jump to this index, if search successful</string>
      </property>
-     <property name="suffix">
-      <string> s</string>
+     <property name="statusTip">
+      <string>Jump to this index, if search successful</string>
      </property>
-     <property name="maximum">
-      <double>50000.000000000000000</double>
+     <property name="whatsThis">
+      <string/>
      </property>
-     <property name="value">
-      <double>5.000000000000000</double>
+     <property name="keyboardTracking">
+      <bool>false</bool>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionChangeAltRateSpinBox">
      <property name="prefix">
-      <string>rate: </string>
+      <string>Jump to index: </string>
      </property>
      <property name="suffix">
-      <string> m/s</string>
-     </property>
-     <property name="maximum">
-      <double>200.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>0.500000000000000</double>
+      <string/>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionChangeAltFinishAltitudeSpinBox">
-     <property name="prefix">
-      <string>finish altitude: </string>
-     </property>
-     <property name="suffix">
-      <string> m</string>
+     <property name="decimals">
+      <number>0</number>
      </property>
      <property name="minimum">
-      <double>-100.000000000000000</double>
+      <double>0.000000000000000</double>
      </property>
      <property name="maximum">
-      <double>1000000.000000000000000</double>
+      <double>2147483647.000000000000000</double>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QDoubleSpinBox" name="conditionDistanceSpinBox">
-     <property name="prefix">
-      <string>distance to next wp: </string>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="toolTip">
+      <string>Jump to this index, if search unsuccessful</string>
      </property>
-     <property name="suffix">
-      <string> m/s</string>
+     <property name="statusTip">
+      <string>Jump to this index, if search unsuccessful</string>
      </property>
-     <property name="maximum">
-      <double>50000.000000000000000</double>
+     <property name="whatsThis">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionYawAngleSpinBox">
      <property name="prefix">
-      <string>heading: </string>
+      <string>Jump to index:  </string>
      </property>
-     <property name="suffix">
-      <string>°</string>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QDoubleSpinBox" name="conditionYawRateSpinBox">
-     <property name="prefix">
-      <string>turn rate: </string>
+    <widget class="QDoubleSpinBox" name="param3SpinBox">
+     <property name="toolTip">
+      <string>Remaining number of jumps. Terminate search if jumps == 0.</string>
      </property>
-     <property name="suffix">
-      <string>°/s</string>
+     <property name="statusTip">
+      <string>Remaining number of jumps. Terminate search if jumps == 0.</string>
      </property>
-     <property name="maximum">
-      <double>1000.000000000000000</double>
+     <property name="whatsThis">
+      <string/>
      </property>
-     <property name="value">
-      <double>15.000000000000000</double>
+     <property name="keyboardTracking">
+      <bool>false</bool>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="conditionYawDirectionComboBox">
-     <property name="currentIndex">
-      <number>1</number>
+     <property name="prefix">
+      <string/>
      </property>
-     <item>
-      <property name="text">
-       <string>left/counter-clockwise</string>
+     <property name="suffix">
+      <string> time(s)</string>
      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>right/clockwise</string>
+     <property name="decimals">
+      <number>0</number>
      </property>
-     </item>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="conditionYawOffsetComboBox">
-     <item>
-      <property name="text">
-       <string>compass direction</string>
+     <property name="minimum">
+      <double>0.000000000000000</double>
      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>offset from current heading</string>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
      </property>
-     </item>
     </widget>
    </item>
   </layout>

src/ui/mission/QGCMissionDoJump.cc

+#include "QGCMissionDoJump.h"
+#include "ui_QGCMissionDoJump.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoJump::QGCMissionDoJump(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoJump)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoJump::~QGCMissionDoJump()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoJump.h

+#ifndef QGCMISSIONDOJUMP_H
+#define QGCMISSIONDOJUMP_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionDoJump;
+}
+
+class QGCMissionDoJump : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoJump(WaypointEditableView* WEV);
+    ~QGCMissionDoJump();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoJump *ui;
+};
+
+#endif // QGCMISSIONDOJUMP_H

src/ui/mission/QGCMissionDoJump.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionDoJump</class>
+ <widget class="QWidget" name="QGCMissionDoJump">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>448</width>
+    <height>37</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Mission element ID to jump to</string>
+     </property>
+     <property name="statusTip">
+      <string>Mission element ID to jump to</string>
+     </property>
+     <property name="wrapping">
+      <bool>false</bool>
+     </property>
+     <property name="frame">
+      <bool>true</bool>
+     </property>
+     <property name="accelerated">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Jump to index </string>
+     </property>
+     <property name="suffix">
+      <string/>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Maximal number of jumps</string>
+     </property>
+     <property name="statusTip">
+      <string>Maximal number of jumps</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string/>
+     </property>
+     <property name="suffix">
+      <string> time(s)</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>1.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionDoStartSearch.cc

+#include "QGCMissionDoStartSearch.h"
+#include "ui_QGCMissionDoStartSearch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoStartSearch::QGCMissionDoStartSearch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoStartSearch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    //connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    //connect(this->ui->param4SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    //connect(this->ui->param5SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    //connect(this->ui->param6SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    //connect(this->ui->param7SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->param4SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->param5SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->param6SpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->param7SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoStartSearch::~QGCMissionDoStartSearch()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoStartSearch.h

+#ifndef QGCMISSIONDOSTARTSEARCH_H
+#define QGCMISSIONDOSTARTSEARCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionDoStartSearch;
+}
+
+class QGCMissionDoStartSearch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoStartSearch(WaypointEditableView* WEV);
+    ~QGCMissionDoStartSearch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoStartSearch *ui;
+};
+
+#endif // QGCMISSIONDOSTARTSEARCH_H

src/ui/mission/QGCMissionDoStartSearch.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionDoStartSearch</class>
+ <widget class="QWidget" name="QGCMissionDoStartSearch">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>482</width>
+    <height>27</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="toolTip">
+      <string>Minimal required detection confidence</string>
+     </property>
+     <property name="statusTip">
+      <string>Minimal required detection confidence</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Conf: </string>
+     </property>
+     <property name="decimals">
+      <number>3</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.100000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="toolTip">
+      <string>Required number of detections</string>
+     </property>
+     <property name="statusTip">
+      <string>Required number of detections</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>#det: </string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>2147483647.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionDoWidget.cc

-#include "QGCMissionDoWidget.h"
-#include "ui_QGCMissionDoWidget.h"
-
-QGCMissionDoWidget::QGCMissionDoWidget(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCMissionDoWidget)
-{
-    ui->setupUi(this);
-}
-
-QGCMissionDoWidget::~QGCMissionDoWidget()
-{
-    delete ui;
-}

src/ui/mission/QGCMissionDoWidget.h

-#ifndef QGCMISSIONDOWIDGET_H
-#define QGCMISSIONDOWIDGET_H
-
-#include <QWidget>
-
-namespace Ui
-{
-class QGCMissionDoWidget;
-}
-
-class QGCMissionDoWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QGCMissionDoWidget(QWidget *parent = 0);
-    ~QGCMissionDoWidget();
-
-private:
-    Ui::QGCMissionDoWidget *ui;
-};
-
-#endif // QGCMISSIONDOWIDGET_H

src/ui/mission/QGCMissionDoWidget.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCMissionDoWidget</class>
- <widget class="QWidget" name="QGCMissionDoWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>632</width>
-    <height>40</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <widget class="QSpinBox" name="doJumpIndexSpinBox">
-   <property name="geometry">
-    <rect>
-     <x>170</x>
-     <y>10</y>
-     <width>201</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="suffix">
-    <string/>
-   </property>
-   <property name="prefix">
-    <string>list index to jump to: </string>
-   </property>
-   <property name="maximum">
-    <number>5000</number>
-   </property>
-  </widget>
-  <widget class="QSpinBox" name="doJumpRepeatSpinBox">
-   <property name="geometry">
-    <rect>
-     <x>380</x>
-     <y>10</y>
-     <width>121</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="suffix">
-    <string> times</string>
-   </property>
-   <property name="prefix">
-    <string>repeat </string>
-   </property>
-   <property name="maximum">
-    <number>1000</number>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="doSetModeComboBox">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>10</y>
-     <width>111</width>
-     <height>26</height>
-    </rect>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/mission/QGCMissionNavLand.cc

+#include "QGCMissionNavLand.h"
+#include "ui_QGCMissionNavLand.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLand::QGCMissionNavLand(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLand)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    //connect(this->ui->holdTimeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    //connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    //connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->holdTimeSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLand::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLand::~QGCMissionNavLand()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLand.h

+#ifndef QGCMISSIONNAVLAND_H
+#define QGCMISSIONNAVLAND_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLand;
+}
+
+class QGCMissionNavLand : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLand(WaypointEditableView* WEV);
+    ~QGCMissionNavLand();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLand *ui;
+};
+
+#endif // QGCMISSIONNAVLAND_H

src/ui/mission/QGCMissionNavLand.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionNavLand</class>
+ <widget class="QWidget" name="QGCMissionNavLand">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>2208</width>
+    <height>37</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="posNSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Position X coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position X corrdinate</string>
+     </property>
+     <property name="wrapping">
+      <bool>false</bool>
+     </property>
+     <property name="frame">
+      <bool>true</bool>
+     </property>
+     <property name="accelerated">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>N </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posESpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>E </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posDSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Position Z coordinate (local frame, negative)</string>
+     </property>
+     <property name="statusTip">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>D </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="latSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Latitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Latitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lat </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-90.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>90.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="lonSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Longitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Longitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lon </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="altSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="statusTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>alt </string>
+     </property>
+     <property name="suffix">
+      <string>m</string>
+     </property>
+     <property name="decimals">
+      <number>2</number>
+     </property>
+     <property name="minimum">
+      <double>-100000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="yawSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="statusTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="wrapping">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string/>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionNavLoiterTime.cc

+#include "QGCMissionNavLoiterTime.h"
+#include "ui_QGCMissionNavLoiterTime.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterTime::QGCMissionNavLoiterTime(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterTime)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->timeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->timeSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterTime::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterTime::~QGCMissionNavLoiterTime()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterTime.h

+#ifndef QGCMISSIONNAVLOITERTIME_H
+#define QGCMISSIONNAVLOITERTIME_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterTime;
+}
+
+class QGCMissionNavLoiterTime : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterTime(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterTime();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterTime *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERTIME_H

src/ui/mission/QGCMissionNavLoiterTurns.cc

+#include "QGCMissionNavLoiterTurns.h"
+#include "ui_QGCMissionNavLoiterTurns.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterTurns::QGCMissionNavLoiterTurns(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterTurns)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->turnsSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->turnsSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterTurns::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterTurns::~QGCMissionNavLoiterTurns()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterTurns.h

+#ifndef QGCMISSIONNAVLOITERTURNS_H
+#define QGCMISSIONNAVLOITERTURNS_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterTurns;
+}
+
+class QGCMissionNavLoiterTurns : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterTurns(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterTurns();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterTurns *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERTURNS_H

src/ui/mission/QGCMissionNavLoiterUnlim.cc

+#include "QGCMissionNavLoiterUnlim.h"
+#include "ui_QGCMissionNavLoiterUnlim.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterUnlim::QGCMissionNavLoiterUnlim(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterUnlim)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    //connect(this->ui->holdTimeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    //connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->holdTimeSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterUnlim::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterUnlim::~QGCMissionNavLoiterUnlim()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterUnlim.h

+#ifndef QGCMISSIONNAVLOITERUNLIM_H
+#define QGCMISSIONNAVLOITERUNLIM_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterUnlim;
+}
+
+class QGCMissionNavLoiterUnlim : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterUnlim(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterUnlim();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterUnlim *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERUNLIM_H

src/ui/mission/QGCMissionNavReturnToLaunch.cc

+#include "QGCMissionNavReturnToLaunch.h"
+#include "ui_QGCMissionNavReturnToLaunch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavReturnToLaunch::QGCMissionNavReturnToLaunch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavReturnToLaunch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+}
+
+QGCMissionNavReturnToLaunch::~QGCMissionNavReturnToLaunch()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavReturnToLaunch.h

+#ifndef QGCMISSIONNAVRETURNTOLAUNCH_H
+#define QGCMISSIONNAVRETURNTOLAUNCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavReturnToLaunch;
+}
+
+class QGCMissionNavReturnToLaunch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavReturnToLaunch(WaypointEditableView* WEV);
+    ~QGCMissionNavReturnToLaunch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavReturnToLaunch *ui;
+};
+
+#endif // QGCMISSIONNAVRETURNTOLAUNCH_H

src/ui/mission/QGCMissionNavReturnToLaunch.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionNavReturnToLaunch</class>
+ <widget class="QWidget" name="QGCMissionNavReturnToLaunch">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>258</width>
+    <height>37</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QLabel" name="noParamLabel">
+     <property name="text">
+      <string>No Parameters</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionNavSweep.cc

+#include "QGCMissionNavSweep.h"
+#include "ui_QGCMissionNavSweep.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavSweep::QGCMissionNavSweep(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavSweep)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->posN1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));//NED
+    connect(this->ui->posE1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posN2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    connect(this->ui->posE2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->lat1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));//Global
+    connect(this->ui->lon1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->lat2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));
+    connect(this->ui->lon2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->posN1SpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->posE1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posN2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posE2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->lat1SpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->lon1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->lat2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lon2SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavSweep::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posN1SpinBox->show();
+        this->ui->posE1SpinBox->show();
+        this->ui->posN2SpinBox->show();
+        this->ui->posE2SpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->lat1SpinBox->hide();
+        this->ui->lon1SpinBox->hide();
+        this->ui->lat2SpinBox->hide();
+        this->ui->lon2SpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posN1SpinBox->hide();
+        this->ui->posE1SpinBox->hide();
+        this->ui->posN2SpinBox->hide();
+        this->ui->posE2SpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->lat1SpinBox->show();
+        this->ui->lon1SpinBox->show();
+        this->ui->lat2SpinBox->show();
+        this->ui->lon2SpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavSweep::~QGCMissionNavSweep()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavSweep.h

+#ifndef QGCMISSIONNAVSWEEP_H
+#define QGCMISSIONNAVSWEEP_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavSweep;
+}
+
+class QGCMissionNavSweep : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavSweep(WaypointEditableView* WEV);
+    ~QGCMissionNavSweep();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavSweep *ui;
+};
+
+#endif // QGCMISSIONNAVSWEEP_H

src/ui/mission/QGCMissionNavTakeoff.cc

+#include "QGCMissionNavTakeoff.h"
+#include "ui_QGCMissionNavTakeoff.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavTakeoff::QGCMissionNavTakeoff(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavTakeoff)
+    {
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->minPitchSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    //connect(this->ui->param3SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->minPitchSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+    }
+
+void QGCMissionNavTakeoff::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavTakeoff::~QGCMissionNavTakeoff()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavTakeoff.h

+#ifndef QGCMISSIONNAVTAKEOFF_H
+#define QGCMISSIONNAVTAKEOFF_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavTakeoff;
+}
+
+class QGCMissionNavTakeoff : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavTakeoff(WaypointEditableView* WEV);
+    ~QGCMissionNavTakeoff();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavTakeoff *ui;
+};
+
+#endif // QGCMISSIONNAVTAKEOFF_H