Merge pull request #2871 from DonLakeFlyer/SimpleComplex

Rearchitecture of Simple/Complex mission item concept

qgroundcontrol.pro

@@ -263,6 +263,7 @@ HEADERS += \
     src/MissionManager/MissionManager.h \
     src/MissionManager/ComplexMissionItem.h \
     src/MissionManager/SimpleMissionItem.h \
+    src/MissionManager/VisualMissionItem.h \
     src/QGC.h \
     src/QGCApplication.h \
     src/QGCComboBox.h \
@@ -392,6 +393,7 @@ SOURCES += \
     src/MissionManager/MissionManager.cc \
     src/MissionManager/ComplexMissionItem.cc \
     src/MissionManager/SimpleMissionItem.cc \
+    src/MissionManager/VisualMissionItem.cc \
     src/QGC.cc \
     src/QGCApplication.cc \
     src/QGCComboBox.cc \
@@ -508,6 +510,7 @@ HEADERS += \
     src/MissionManager/MissionControllerManagerTest.h \
     src/MissionManager/MissionItemTest.h \
     src/MissionManager/MissionManagerTest.h \
+    src/MissionManager/SimpleMissionItemTest.h \
     src/qgcunittest/GeoTest.h \
     src/qgcunittest/FileDialogTest.h \
     src/qgcunittest/FileManagerTest.h \
@@ -531,6 +534,7 @@ SOURCES += \
     src/MissionManager/MissionControllerManagerTest.cc \
     src/MissionManager/MissionItemTest.cc \
     src/MissionManager/MissionManagerTest.cc \
+    src/MissionManager/SimpleMissionItemTest.cc \
     src/qgcunittest/GeoTest.cc \
     src/qgcunittest/FileDialogTest.cc \
     src/qgcunittest/FileManagerTest.cc \

src/FirmwarePlugin/APM/MavCmdInfoCommon.json

@@ -12,8 +12,14 @@
             "category":             "Basic",
             "param1": {
                 "label":            "Pitch:",
-                "units":            "radians",
-                "default":          0.26179939,
+                "units":            "degrees",
+                "default":          15,
+                "decimalPlaces":    2
+            },
+            "param7": {
+                "label":            "Altitude:",
+                "units":            "meters",
+                "default":          25.0,
                 "decimalPlaces":    2
             }
         },

src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json

@@ -9,7 +9,13 @@
             "description":          "Take off from the ground.",
             "specifiesCoordinate":  false,
             "friendlyEdit":         true,
-            "category":             "Basic"
+            "category":             "Basic",
+            "param7": {
+                "label":            "Altitude:",
+                "units":            "meters",
+                "default":          25.0,
+                "decimalPlaces":    2
+            }
         },
         {
             "id":                   17,

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -89,7 +89,7 @@ FlightMap {
 
     // Add the mission items to the map
     MissionItemView {
-        model: _mainIsMap ? _missionController.missionItems : 0
+        model: _mainIsMap ? _missionController.visualItems : 0
     }
 
     // Add lines between waypoints

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -42,8 +42,11 @@ MapQuickItem {
     sourceItem:
         MissionItemIndexLabel {
             id:             _label
-            isCurrentItem:  missionItem.isCurrentItem
-            label:          missionItem.sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
+            isCurrentItem:  _isCurrentItem
+            label:          _sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
             onClicked:      _item.clicked()
+
+            property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false
+            property bool _sequenceNumber:  missionItem ? missionItem.sequenceNumber : 0
         }
 }

src/JsonHelper.cc

@@ -58,10 +58,17 @@ bool JsonHelper::toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& c
     QJsonArray coordinateArray = jsonValue.toArray();
     int requiredCount = altitudeRequired ? 3 : 2;
     if (coordinateArray.count() != requiredCount) {
-        errorString = QString("Json array must contains %1 values").arg(requiredCount);
+        errorString = QString("Coordinate array must contain %1 values").arg(requiredCount);
         return false;
     }
 
+    foreach(const QJsonValue& jsonValue, coordinateArray) {
+        if (jsonValue.type() != QJsonValue::Double) {
+            errorString = QString("Coordinate array may only contain double values, found: %1").arg(jsonValue.type());
+            return false;
+        }
+    }
+
     coordinate = QGeoCoordinate(coordinateArray[0].toDouble(), coordinateArray[1].toDouble());
     if (altitudeRequired) {
         coordinate.setAltitude(coordinateArray[2].toDouble());

src/MissionEditor/MissionEditor.qml

@@ -40,7 +40,7 @@ import QGroundControl.Controllers   1.0
 QGCView {
     id:         _root
 
-    property bool syncNeeded: controller.missionItems.dirty // Unsaved changes, visible to parent container
+    property bool syncNeeded: controller.visualItems.dirty // Unsaved changes, visible to parent container
 
     viewPanel:          panel
     topDialogMargin:    height - mainWindow.availableHeight
@@ -60,13 +60,11 @@ QGCView {
     readonly property int       _addMissionItemsButtonAutoOffTimeout:   10000
     readonly property var       _defaultVehicleCoordinate:   QtPositioning.coordinate(37.803784, -122.462276)
 
-    property var    _missionItems:          controller.missionItems
+    property var    _visualItems:          controller.visualItems
     property var    _currentMissionItem
     property bool   _firstVehiclePosition:  true
     property var    activeVehiclePosition:  _activeVehicle ? _activeVehicle.coordinate : QtPositioning.coordinate()
 
-    property bool _syncInProgress:              _activeVehicle ? _activeVehicle.missionManager.inProgress : false
-
     onActiveVehiclePositionChanged: updateMapToVehiclePosition()
 
     Connections {
@@ -119,19 +117,19 @@ QGCView {
 
     /// Fix the map viewport to the current mission items.
     function fitViewportToMissionItems() {
-        if (_missionItems.count == 1) {
-            editorMap.center = _missionItems.get(0).coordinate
+        if (_visualItems.count == 1) {
+            editorMap.center = _visualItems.get(0).coordinate
         } else {
-            var missionItem = _missionItems.get(0)
+            var missionItem = _visualItems.get(0)
             var north = normalizeLat(missionItem.coordinate.latitude)
             var south = north
             var east = normalizeLon(missionItem.coordinate.longitude)
             var west = east
 
-            for (var i=1; i<_missionItems.count; i++) {
-                missionItem = _missionItems.get(i)
+            for (var i=1; i<_visualItems.count; i++) {
+                missionItem = _visualItems.get(i)
 
-                if (missionItem.specifiesCoordinate && !missionItem.standaloneCoordinate) {
+                if (missionItem.specifiesCoordinate && !missionItem.isStandaloneCoordinate) {
                     var lat = normalizeLat(missionItem.coordinate.latitude)
                     var lon = normalizeLon(missionItem.coordinate.longitude)
 
@@ -161,7 +159,7 @@ QGCView {
         onAutoSyncChanged:      QGroundControl.flightMapSettings.saveMapSetting(editorMap.mapName, _autoSyncKey, autoSync)
 */
 
-        onMissionItemsChanged: itemDragger.clearItem()
+        onVisualItemsChanged: itemDragger.clearItem()
         onNewItemsFromVehicle: fitViewportToMissionItems()
     }
 
@@ -177,12 +175,12 @@ QGCView {
 
     function setCurrentItem(index) {
         _currentMissionItem = undefined
-        for (var i=0; i<_missionItems.count; i++) {
+        for (var i=0; i<_visualItems.count; i++) {
             if (i == index) {
-                _currentMissionItem = _missionItems.get(i)
+                _currentMissionItem = _visualItems.get(i)
                 _currentMissionItem.isCurrentItem = true
             } else {
-                _missionItems.get(i).isCurrentItem = false
+                _visualItems.get(i).isCurrentItem = false
             }
         }
     }
@@ -266,7 +264,7 @@ QGCView {
 
                 QGCComboBox {
                     id:             toCombo
-                    model:          _missionItems.count
+                    model:          _visualItems.count
                     currentIndex:   _moveDialogMissionItemIndex
                 }
             }
@@ -308,7 +306,7 @@ QGCView {
                         coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                         coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                         if (addMissionItemsButton.checked) {
-                            var index = controller.insertSimpleMissionItem(coordinate, controller.missionItems.count)
+                            var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
                             setCurrentItem(index)
                         } else {
                             editorMap.mapClicked(coordinate)
@@ -368,7 +366,7 @@ QGCView {
 
                 // Add the simple mission items to the map
                 MapItemView {
-                    model:          controller.missionItems
+                    model:          controller.visualItems
                     delegate:       missionItemComponent
                 }
 
@@ -399,8 +397,8 @@ QGCView {
                         Connections {
                             target: object
 
-                            onIsCurrentItemChanged: updateItemIndicator()
-                            onCommandChanged:       updateItemIndicator()
+                            onIsCurrentItemChanged:         updateItemIndicator()
+                            onSpecifiesCoordinateChanged:   updateItemIndicator()
                         }
 
                         // These are the non-coordinate child mission items attached to this item
@@ -425,7 +423,7 @@ QGCView {
 
                 // Add the complex mission items to the map
                 MapItemView {
-                    model:          controller.complexMissionItems
+                    model:          controller.complexVisualItems
                     delegate:       polygonItemComponent
                 }
 
@@ -480,10 +478,10 @@ QGCView {
                         anchors.left:   parent.left
                         anchors.right:  parent.right
                         anchors.top:    parent.top
-                        height:         Math.min(contentHeight, parent.height)
+                        height:         parent.height
                         spacing:        _margin / 2
                         orientation:    ListView.Vertical
-                        model:          controller.missionItems
+                        model:          controller.visualItems
                         cacheBuffer:    height * 2
 
                         delegate: MissionItemEditor {
@@ -504,7 +502,7 @@ QGCView {
                                 setCurrentItem(i)
                             }
 
-                            onMoveHomeToMapCenter: controller.missionItems.get(0).coordinate = editorMap.center
+                            onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
                         }
                     } // ListView
                 } // Item - Mission Item editor
@@ -551,7 +549,7 @@ QGCView {
                             coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                             coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                             coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
-                            var index = controller.insertComplexMissionItem(coordinate, controller.missionItems.count)
+                            var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
                             setCurrentItem(index)
                             checked = false
                         }
@@ -565,8 +563,8 @@ QGCView {
                         exclusiveGroup:     _dropButtonsExclusiveGroup
                         z:                  QGroundControl.zOrderWidgets
                         dropDownComponent:  syncDropDownComponent
-                        enabled:            !_syncInProgress
-                        rotateImage:        _syncInProgress
+                        enabled:            !controller.syncInProgress
+                        rotateImage:        controller.syncInProgress
                     }
 
                     DropButton {
@@ -589,7 +587,7 @@ QGCView {
 
                                         onClicked: {
                                             centerMapButton.hideDropDown()
-                                            editorMap.center = controller.missionItems.get(0).coordinate
+                                            editorMap.center = controller.visualItems.get(0).coordinate
                                         }
                                     }
 
@@ -688,7 +686,7 @@ QGCView {
                     anchors.bottom:     parent.bottom
                     z:                  QGroundControl.zOrderTopMost
                     currentMissionItem: _currentMissionItem
-                    missionItems:       controller.missionItems
+                    missionItems:       controller.visualItems
                     expandedWidth:      missionItemEditor.x - (ScreenTools.defaultFontPixelWidth * 2)
                 }
             } // FlightMap
@@ -758,7 +756,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Send to vehicle"
-                    enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress
+                    enabled:    !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
@@ -768,7 +766,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Load from vehicle"
-                    enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress
+                    enabled:    !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
@@ -786,6 +784,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Save to file..."
+                    enabled:    !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
@@ -795,6 +794,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Load from file..."
+                    enabled:    !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()

src/MissionEditor/MissionItemStatus.qml

@@ -114,7 +114,7 @@ Rectangle {
                 Item {
                     height:     graphRow.height
                     width:      ScreenTools.smallFontPixelWidth * 2
-                    visible:    object.specifiesCoordinate && !object.standaloneCoordinate
+                    visible:    object.specifiesCoordinate && !object.isStandaloneCoordinate
 
 
                     property real availableHeight: height - ScreenTools.smallFontPixelHeight - indicator.height

src/MissionManager/ComplexMissionItem.cc

@@ -23,43 +23,19 @@ This file is part of the QGROUNDCONTROL project
 #include "ComplexMissionItem.h"
 
 ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
-    : MissionItem(vehicle, parent)
-{
-
-}
-
-ComplexMissionItem::ComplexMissionItem(Vehicle*       vehicle,
-                         int             sequenceNumber,
-                         MAV_CMD         command,
-                         MAV_FRAME       frame,
-                         double          param1,
-                         double          param2,
-                         double          param3,
-                         double          param4,
-                         double          param5,
-                         double          param6,
-                         double          param7,
-                         bool            autoContinue,
-                         bool            isCurrentItem,
-                         QObject*        parent)
-    : MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent)
+    : VisualMissionItem(vehicle, parent)
+    , _dirty(false)
 {
 
 }
 
 ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
-    : MissionItem(other, parent)
+    : VisualMissionItem(other, parent)
+    , _dirty(false)
 {
 
 }
 
-const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem& other)
-{
-    static_cast<MissionItem&>(*this) = other;
-
-    return *this;
-}
-
 QVariantList ComplexMissionItem::polygonPath(void)
 {
     return _polygonPath;
@@ -85,3 +61,33 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
     _polygonPath << QVariant::fromValue(coordinate);
     emit polygonPathChanged();
 }
+
+int ComplexMissionItem::nextSequenceNumber(void) const
+{
+    return _sequenceNumber + _missionItems.count();
+}
+
+void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (_coordinate != coordinate) {
+        _coordinate = coordinate;
+        emit coordinateChanged(_coordinate);
+    }
+}
+
+void ComplexMissionItem::setDirty(bool dirty)
+{
+   if (_dirty != dirty) {
+       _dirty = dirty;
+       emit dirtyChanged(_dirty);
+   }
+}
+
+bool ComplexMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
+{
+    Q_UNUSED(missionObject);
+    Q_UNUSED(missionItems);
+
+    errorString = "Complex save NYI";
+    return false;
+}

src/MissionManager/ComplexMissionItem.h

@@ -24,34 +24,17 @@
 #ifndef ComplexMissionItem_H
 #define ComplexMissionItem_H
 
+#include "VisualMissionItem.h"
 #include "MissionItem.h"
 
-class ComplexMissionItem : public MissionItem
+class ComplexMissionItem : public VisualMissionItem
 {
     Q_OBJECT
     
 public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
-
-    ComplexMissionItem(Vehicle*        vehicle,
-                int             sequenceNumber,
-                MAV_CMD         command,
-                MAV_FRAME       frame,
-                double          param1,
-                double          param2,
-                double          param3,
-                double          param4,
-                double          param5,
-                double          param6,
-                double          param7,
-                bool            autoContinue,
-                bool            isCurrentItem,
-                QObject*        parent = NULL);
-
     ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
 
-    const ComplexMissionItem& operator=(const ComplexMissionItem& other);
-
     Q_PROPERTY(QVariantList  polygonPath READ polygonPath NOTIFY polygonPathChanged)
 
     Q_INVOKABLE void clearPolygon(void);
@@ -59,15 +42,38 @@ public:
 
     QVariantList polygonPath(void);
 
-    // Overrides from MissionItem base class
-    bool            simpleItem      (void) const final { return false; }
-    QGeoCoordinate  exitCoordinate  (void) const final { return coordinate(); }
+    const QList<MissionItem*>& missionItems(void) { return _missionItems; }
+
+    /// @return The next sequence number to use after this item. Takes into account child items of the complex item
+    int nextSequenceNumber(void) const;
+
+    // Overrides from VisualMissionItem
+
+    bool            dirty                   (void) const final { return _dirty; }
+    bool            isSimpleItem            (void) const final { return false; }
+    bool            isStandaloneCoordinate  (void) const final { return false; }
+    bool            specifiesCoordinate     (void) const final { return true; }
+    QString         commandDescription      (void) const final { return "Survey"; }
+    QString         commandName             (void) const final { return "Survey"; }
+    QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
+    QGeoCoordinate  exitCoordinate          (void) const final { return _coordinate; }
+
+    bool coordinateHasRelativeAltitude      (void) const final { return true; }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
+    bool exitCoordinateSameAsEntry          (void) const final { return false; }
+
+    void setDirty           (bool dirty) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate);
+    bool save               (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
 
 signals:
     void polygonPathChanged(void);
 
 private:
-    QVariantList _polygonPath;
+    bool                _dirty;
+    QVariantList        _polygonPath;
+    QList<MissionItem*> _missionItems;
+    QGeoCoordinate      _coordinate;
 };
 
 #endif

src/MissionManager/MavCmdInfoCommon.json

@@ -138,8 +138,8 @@
             "category":             "Basic",
             "param1": {
                 "label":            "Pitch:",
-                "units":            "radians",
-                "default":          0.26179939,
+                "units":            "degrees",
+                "default":          15,
                 "decimalPlaces":    2
             },
             "param4": {

src/MissionManager/MissionCommandList.h

@@ -95,7 +95,7 @@ public:
     Q_PROPERTY(bool     friendlyEdit            READ friendlyEdit           CONSTANT)
     Q_PROPERTY(QString  friendlyName            READ friendlyName           CONSTANT)
     Q_PROPERTY(QString  rawName                 READ rawName                CONSTANT)
-    Q_PROPERTY(bool     standaloneCoordinate    READ standaloneCoordinate   CONSTANT)
+    Q_PROPERTY(bool     isStandaloneCoordinate    READ isStandaloneCoordinate   CONSTANT)
     Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
 
     MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
@@ -106,7 +106,7 @@ public:
     bool    friendlyEdit        (void) const { return _friendlyEdit; }
     QString friendlyName        (void) const { return _friendlyName; }
     QString rawName             (void) const { return _rawName; }
-    bool    standaloneCoordinate(void) const { return _standaloneCoordinate; }
+    bool    isStandaloneCoordinate(void) const { return _standaloneCoordinate; }
     bool    specifiesCoordinate (void) const { return _specifiesCoordinate; }
 
     const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }

src/MissionManager/MissionController.cc

@@ -46,8 +46,8 @@ const char* MissionController::_jsonPlannedHomePositionKey =    "plannedHomePosi
 MissionController::MissionController(QObject *parent)
     : QObject(parent)
     , _editMode(false)
-    , _missionItems(NULL)
-    , _complexMissionItems(NULL)
+    , _visualItems(NULL)
+    , _complexItems(NULL)
     , _activeVehicle(NULL)
     , _autoSync(false)
     , _firstItemsFromVehicle(false)
@@ -74,9 +74,9 @@ void MissionController::start(bool editMode)
     _activeVehicleChanged(multiVehicleMgr->activeVehicle());
 
     // We start with an empty mission
-    _missionItems = new QmlObjectListModel(this);
-    _addPlannedHomePosition(_missionItems, false /* addToCenter */);
-    _initAllMissionItems();
+    _visualItems = new QmlObjectListModel(this);
+    _addPlannedHomePosition(_visualItems, false /* addToCenter */);
+    _initAllVisualItems();
 }
 
 // Called when new mission items have completed downloading from Vehicle
@@ -84,25 +84,33 @@ void MissionController::_newMissionItemsAvailableFromVehicle(void)
 {
     qCDebug(MissionControllerLog) << "_newMissionItemsAvailableFromVehicle";
 
-    if (!_editMode || _missionItemsRequested || _missionItems->count() == 1) {
+    if (!_editMode || _missionItemsRequested || _visualItems->count() == 1) {
         // Fly Mode:
         //      - Always accepts new items fromthe vehicle so Fly view is kept up to date
         // Edit Mode:
         //      - Either a load from vehicle was manually requested or
         //      - The initial automatic load from a vehicle completed and the current editor it empty
-        _deinitAllMissionItems();
-        _missionItems->deleteLater();
 
-        _missionItems = _activeVehicle->missionManager()->copyMissionItems();
-        qCDebug(MissionControllerLog) << "loading from vehicle count"<< _missionItems->count();
+        QmlObjectListModel* newControllerMissionItems = new QmlObjectListModel(this);
+        const QList<MissionItem*>& newMissionItems = _activeVehicle->missionManager()->missionItems();
 
-        if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _missionItems->count() == 0) {
-            _addPlannedHomePosition(_missionItems,true /* addToCenter */);
+        qCDebug(MissionControllerLog) << "loading from vehicle: count"<< _visualItems->count();
+        foreach(const MissionItem* missionItem, newMissionItems) {
+            newControllerMissionItems->append(new SimpleMissionItem(_activeVehicle, *missionItem, this));
+        }
+
+        _deinitAllVisualItems();
+
+        _visualItems->deleteListAndContents();
+        _visualItems = newControllerMissionItems;
+
+        if (!_activeVehicle->firmwarePlugin()->sendHomePositionToVehicle() || _visualItems->count() == 0) {
+            _addPlannedHomePosition(_visualItems,true /* addToCenter */);
         }
 
         _missionItemsRequested = false;
 
-        _initAllMissionItems();
+        _initAllVisualItems();
         emit newItemsFromVehicle();
     }
 }
@@ -119,22 +127,39 @@ void MissionController::getMissionItems(void)
 
 void MissionController::sendMissionItems(void)
 {
-    Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+    if (_activeVehicle) {
+        // Convert to MissionItems so we can send to vehicle
 
-    if (activeVehicle) {
-        activeVehicle->missionManager()->writeMissionItems(*_missionItems);
-        _missionItems->setDirty(false);
+        QList<MissionItem*> missionItems;
+
+        int sequenceNumber = 0;
+        for (int i=0; i<_visualItems->count(); i++) {
+            VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+            if (visualItem->isSimpleItem()) {
+                MissionItem& missionItem = qobject_cast<SimpleMissionItem*>(visualItem)->missionItem();
+                missionItem.setSequenceNumber(sequenceNumber++);
+                missionItems.append(&missionItem);
+            } else {
+                foreach (MissionItem* missionItem, qobject_cast<ComplexMissionItem*>(visualItem)->missionItems()) {
+                    missionItem->setSequenceNumber(sequenceNumber++);
+                    missionItems.append(missionItem);
+                }
+            }
+        }
+
+        _activeVehicle->missionManager()->writeMissionItems(missionItems);
+        _visualItems->setDirty(false);
     }
 }
 
 int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 {
-    MissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_missionItems->count());
+    SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
+    newItem->setSequenceNumber(_visualItems->count());
     newItem->setCoordinate(coordinate);
-    newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
-    _initMissionItem(newItem);
-    if (_missionItems->count() == 1) {
+    newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    _initVisualItem(newItem);
+    if (_visualItems->count() == 1) {
         newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
     }
     newItem->setDefaultsForCommand();
@@ -142,64 +167,71 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
         double lastValue;
 
         if (_findLastAcceptanceRadius(&lastValue)) {
-            newItem->setParam2(lastValue);
+            newItem->missionItem().setParam2(lastValue);
         }
         if (_findLastAltitude(&lastValue)) {
-            newItem->setParam7(lastValue);
+            newItem->missionItem().setParam7(lastValue);
         }
     }
-    _missionItems->insert(i, newItem);
+    _visualItems->insert(i, newItem);
 
     _recalcAll();
 
-    return _missionItems->count() - 1;
+    return _visualItems->count() - 1;
 }
 
 int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
 {
-    ComplexMissionItem * newItem = new ComplexMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_missionItems->count());
+    ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
+    newItem->setSequenceNumber(_visualItems->count());
     newItem->setCoordinate(coordinate);
-    newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
-    _initMissionItem(newItem);
+    _initVisualItem(newItem);
 
-    _missionItems->insert(i, newItem);
-    _complexMissionItems->append(newItem);
+    _visualItems->insert(i, newItem);
+    _complexItems->append(newItem);
 
     _recalcAll();
 
-    return _missionItems->count() - 1;
+    return _visualItems->count() - 1;
 }
 
 void MissionController::removeMissionItem(int index)
 {
-    MissionItem* item = qobject_cast<MissionItem*>(_missionItems->removeAt(index));
+    VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
 
-    _deinitMissionItem(item);
+    _deinitVisualItem(item);
+    if (!item->isSimpleItem()) {
+        ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(_complexItems->removeOne(item));
+        if (complexItem) {
+            complexItem->deleteLater();
+        } else {
+            qWarning() << "Complex item missing";
+        }
+    }
     item->deleteLater();
 
     _recalcAll();
 
     // Set the new current item
 
-    if (index >= _missionItems->count()) {
+    if (index >= _visualItems->count()) {
         index--;
     }
-    for (int i=0; i<_missionItems->count(); i++) {
-        MissionItem* item =  qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=0; i<_visualItems->count(); i++) {
+        MissionItem* item =  qobject_cast<MissionItem*>(_visualItems->get(i));
         item->setIsCurrentItem(i == index);
     }
-    _missionItems->setDirty(true);
+    _visualItems->setDirty(true);
 }
 
 void MissionController::removeAllMissionItems(void)
 {
-    if (_missionItems) {
-        QmlObjectListModel* oldItems = _missionItems;
-        _missionItems = new QmlObjectListModel(this);
-        _addPlannedHomePosition(_missionItems, false /* addToCenter */);
-        _initAllMissionItems();
-        oldItems->deleteLater();
+    if (_visualItems) {
+        _deinitAllVisualItems();
+        _visualItems->deleteListAndContents();
+        _visualItems = new QmlObjectListModel(this);
+        _addPlannedHomePosition(_visualItems, false /* addToCenter */);
+        _initAllVisualItems();
     }
 }
 
@@ -237,7 +269,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
                 return false;
             }
 
-            MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
+            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
             if (item->load(itemValue.toObject(), errorString)) {
                 missionItems->append(item);
             } else {
@@ -247,7 +279,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
     }
 
     if (json.contains(_jsonPlannedHomePositionKey)) {
-        MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
+        SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
 
         if (item->load(json[_jsonPlannedHomePositionKey].toObject(), errorString)) {
             missionItems->insert(0, item);
@@ -261,7 +293,7 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
     return true;
 }
 
-bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString)
+bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString)
 {
     bool addPlannedHomePosition = false;
 
@@ -282,10 +314,10 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
 
     if (versionOk) {
         while (!stream.atEnd()) {
-            MissionItem* item = new SimpleMissionItem(_activeVehicle, this);
+            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
 
             if (item->load(stream)) {
-                missionItems->append(item);
+                visualItems->append(item);
             } else {
                 errorString = QStringLiteral("The mission file is corrupted.");
                 return false;
@@ -296,15 +328,14 @@ bool MissionController::_loadTextMissionFile(QTextStream& stream, QmlObjectListM
         return false;
     }
 
-    if (addPlannedHomePosition || missionItems->count() == 0) {
-        _addPlannedHomePosition(missionItems, true /* addToCenter */);
+    if (addPlannedHomePosition || visualItems->count() == 0) {
+        _addPlannedHomePosition(visualItems, true /* addToCenter */);
 
-        // Update sequence numbers in DO_JUMP commands to take into account added home position
-        for (int i=1; i<missionItems->count(); i++) {
-            MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(i));
-            if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
-                // Home is in position 0
-                item->setParam1((int)item->param1() + 1);
+        // Update sequence numbers in DO_JUMP commands to take into account added home position in index 0
+        for (int i=1; i<visualItems->count(); i++) {
+            SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(i));
+            if (item && item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
+                item->missionItem().setParam1((int)item->missionItem().param1() + 1);
             }
         }
     }
@@ -345,16 +376,16 @@ void MissionController::_loadMissionFromFile(const QString& filename)
         return;
     }
 
-    if (_missionItems) {
-        _deinitAllMissionItems();
-        _missionItems->deleteLater();
+    if (_visualItems) {
+        _deinitAllVisualItems();
+        _visualItems->deleteListAndContents();
     }
-    _missionItems = newMissionItems;
-    if (_missionItems->count() == 0) {
-        _addPlannedHomePosition(_missionItems, true /* addToCenter */);
+    _visualItems = newMissionItems;
+    if (_visualItems->count() == 0) {
+        _addPlannedHomePosition(_visualItems, true /* addToCenter */);
     }
 
-    _initAllMissionItems();
+    _initAllVisualItems();
 }
 
 void MissionController::loadMissionFromFile(void)
@@ -387,7 +418,9 @@ void MissionController::_saveMissionToFile(const QString& filename)
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
         qgcApp()->showMessage(file.errorString());
     } else {
-        QJsonObject missionObject;
+        QJsonObject missionObject;      // top level json object
+        QJsonArray missionItemArray;    // array of mission items
+        QString errorString;
 
         missionObject[_jsonVersionKey] = "1.0";
         missionObject[_jsonGroundStationKey] = "QGroundControl";
@@ -404,23 +437,32 @@ void MissionController::_saveMissionToFile(const QString& filename)
         }
         missionObject[_jsonMavAutopilotKey] = firmwareType;
 
+        // Save planned home position
         QJsonObject homePositionObject;
-        qobject_cast<MissionItem*>(_missionItems->get(0))->save(homePositionObject);
-        missionObject["plannedHomePosition"] = homePositionObject;
-
-        QJsonArray itemArray;
-        for (int i=1; i<_missionItems->count(); i++) {
-            QJsonObject itemObject;
-            qobject_cast<MissionItem*>(_missionItems->get(i))->save(itemObject);
-            itemArray.append(itemObject);
+        SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
+        if (homeItem) {
+            homeItem->missionItem().save(homePositionObject);
+        } else {
+            qgcApp()->showMessage(QStringLiteral("Internal error: VisualMissionItem at index 0 not SimpleMissionItem"));
+            return;
+        }
+        missionObject[_jsonPlannedHomePositionKey] = homePositionObject;
+
+        // Save the remainder of the visual items
+        for (int i=1; i<_visualItems->count(); i++) {
+            VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+            if (!visualItem->save(missionObject, missionItemArray, errorString)) {
+                qgcApp()->showMessage(errorString);
+                return;
+            }
         }
-        missionObject["items"] = itemArray;
+        missionObject["items"] = missionItemArray;
 
         QJsonDocument saveDoc(missionObject);
         file.write(saveDoc.toJson());
     }
 
-    _missionItems->setDirty(false);
+    _visualItems->setDirty(false);
 }
 
 void MissionController::saveMissionToFile(void)
@@ -456,23 +498,23 @@ void MissionController::loadMobileMissionFromFile(const QString& filename)
     _loadMissionFromFile(docDirs.at(0) + QDir::separator() + filename);
 }
 
-void MissionController::_calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
+void MissionController::_calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference)
 {
     QGeoCoordinate  currentCoord =  currentItem->coordinate();
-    QGeoCoordinate  prevCoord =     prevItem->coordinate();
+    QGeoCoordinate  prevCoord =     prevItem->exitCoordinate();
     bool            distanceOk =    false;
 
     // Convert to fixed altitudes
 
     qCDebug(MissionControllerLog) << homeAlt
-                                  << currentItem->relativeAltitude() << currentItem->coordinate().altitude()
-                                  << prevItem->relativeAltitude() << prevItem->coordinate().altitude();
+                                  << currentItem->coordinateHasRelativeAltitude() << currentItem->coordinate().altitude()
+                                  << prevItem->exitCoordinateHasRelativeAltitude() << prevItem->exitCoordinate().altitude();
 
     distanceOk = true;
-    if (currentItem->relativeAltitude()) {
+    if (currentItem->coordinateHasRelativeAltitude()) {
         currentCoord.setAltitude(homeAlt + currentCoord.altitude());
     }
-    if (prevItem->relativeAltitude()) {
+    if (prevItem->exitCoordinateHasRelativeAltitude()) {
         prevCoord.setAltitude(homeAlt + prevCoord.altitude());
     }
 
@@ -491,11 +533,17 @@ void MissionController::_calcPrevWaypointValues(double homeAlt, MissionItem* cur
 
 void MissionController::_recalcWaypointLines(void)
 {
-    MissionItem*    lastCoordinateItem =    qobject_cast<MissionItem*>(_missionItems->get(0));
-    MissionItem*    homeItem =              lastCoordinateItem;
-    bool            firstCoordinateItem =   true;
-    bool            showHomePosition =      homeItem->showHomePosition();
-    double          homeAlt =               homeItem->coordinate().altitude();
+    bool                firstCoordinateItem =   true;
+    VisualMissionItem*  lastCoordinateItem =    qobject_cast<VisualMissionItem*>(_visualItems->get(0));
+
+    SimpleMissionItem*  homeItem = qobject_cast<SimpleMissionItem*>(lastCoordinateItem);
+
+    if (!homeItem) {
+        qWarning() << "Home item is not SimpleMissionItem";
+    }
+
+    bool    showHomePosition =  homeItem->showHomePosition();
+    double  homeAlt =           homeItem->coordinate().altitude();
 
     qCDebug(MissionControllerLog) << "_recalcWaypointLines";
 
@@ -516,28 +564,42 @@ void MissionController::_recalcWaypointLines(void)
     _waypointLines.clear();
 
     bool linkBackToHome = false;
-    for (int i=1; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=1; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
         // Assume the worst
         item->setAzimuth(0.0);
         item->setDistance(-1.0);
 
-        if (firstCoordinateItem && item->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
+        // If we still haven't found the first coordinate item and we hit a a takeoff command link back to home
+        if (firstCoordinateItem &&
+                item->isSimpleItem() &&
+                qobject_cast<SimpleMissionItem*>(item)->command() == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
             linkBackToHome = true;
         }
 
         if (item->specifiesCoordinate()) {
+            // Keep track of the min/max altitude for all waypoints so we can show altitudes as a percentage
+
             double absoluteAltitude = item->coordinate().altitude();
-            if (item->relativeAltitude()) {
+            if (item->coordinateHasRelativeAltitude()) {
                 absoluteAltitude += homePositionAltitude;
             }
             minAltSeen = std::min(minAltSeen, absoluteAltitude);
             maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
 
-            if (!item->standaloneCoordinate()) {
+            if (!item->exitCoordinateSameAsEntry()) {
+                absoluteAltitude = item->exitCoordinate().altitude();
+                if (item->exitCoordinateHasRelativeAltitude()) {
+                    absoluteAltitude += homePositionAltitude;
+                }
+                minAltSeen = std::min(minAltSeen, absoluteAltitude);
+                maxAltSeen = std::max(maxAltSeen, absoluteAltitude);
+            }
+
+            if (!item->isStandaloneCoordinate()) {
                 firstCoordinateItem = false;
-                if (!lastCoordinateItem->homePosition() || (showHomePosition && linkBackToHome)) {
+                if (lastCoordinateItem != homeItem || (showHomePosition && linkBackToHome)) {
                     double azimuth, distance, altDifference;
 
                     // Subsequent coordinate items link to last coordinate item. If the last coordinate item
@@ -555,12 +617,12 @@ void MissionController::_recalcWaypointLines(void)
 
     // Walk the list again calculating altitude percentages
     double altRange = maxAltSeen - minAltSeen;
-    for (int i=0; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=0; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
         if (item->specifiesCoordinate()) {
             double absoluteAltitude = item->coordinate().altitude();
-            if (item->relativeAltitude()) {
+            if (item->coordinateHasRelativeAltitude()) {
                 absoluteAltitude += homePositionAltitude;
             }
             if (altRange == 0.0) {
@@ -577,23 +639,34 @@ void MissionController::_recalcWaypointLines(void)
 // This will update the sequence numbers to be sequential starting from 0
 void MissionController::_recalcSequence(void)
 {
-    for (int i=0; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    // Setup ascending sequence numbers for all visual items
+
+    int sequenceNumber = 0;
+    for (int i=0; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+
+        item->setSequenceNumber(sequenceNumber++);
+        if (!item->isSimpleItem()) {
+            ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
 
-        // Setup ascending sequence numbers
-        item->setSequenceNumber(i);
+            if (complexItem) {
+                sequenceNumber = complexItem->nextSequenceNumber();
+            } else {
+                qWarning() << "isSimpleItem == false, yet not ComplexMissionItem";
+            }
+        }
     }
 }
 
 // This will update the child item hierarchy
 void MissionController::_recalcChildItems(void)
 {
-    MissionItem* currentParentItem = qobject_cast<MissionItem*>(_missionItems->get(0));
+    VisualMissionItem* currentParentItem = qobject_cast<VisualMissionItem*>(_visualItems->get(0));
 
     currentParentItem->childItems()->clear();
 
-    for (int i=1; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=1; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
         // Set up non-coordinate item child hierarchy
         if (item->specifiesCoordinate()) {
@@ -613,15 +686,22 @@ void MissionController::_recalcAll(void)
 }
 
 /// Initializes a new set of mission items
-void MissionController::_initAllMissionItems(void)
+void MissionController::_initAllVisualItems(void)
 {
-    MissionItem* homeItem = NULL;
+    SimpleMissionItem* homeItem = NULL;
+
+    // Setup home position at index 0
+
+    homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
+    if (!homeItem) {
+        qWarning() << "homeItem not SimpleMissionItem";
+        return;
+    }
 
-    homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
     homeItem->setHomePositionSpecialCase(true);
     homeItem->setShowHomePosition(_editMode);
-    homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
-    homeItem->setFrame(MAV_FRAME_GLOBAL);
+    homeItem->missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
+    homeItem->missionItem().setFrame(MAV_FRAME_GLOBAL);
     homeItem->setIsCurrentItem(true);
 
     if (!_editMode && _activeVehicle && _activeVehicle->homePositionAvailable()) {
@@ -632,52 +712,70 @@ void MissionController::_initAllMissionItems(void)
     qDebug() << "home item" << homeItem->coordinate();
 
     QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
+    for (int i=0; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
+        _initVisualItem(item);
 
-    for (int i=0; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+        // Set up complex item list
+        if (!item->isSimpleItem()) {
+            ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
 
-        if (!item->simpleItem()) {
-            newComplexItems->append(item);
+            if (complexItem) {
+                newComplexItems->append(item);
+            } else {
+                qWarning() << "isSimpleItem == false, but not ComplexMissionItem";
+            }
         }
-        _initMissionItem(item);
     }
 
-    delete _complexMissionItems;
-    _complexMissionItems = newComplexItems;
+    if (_complexItems) {
+        _complexItems->deleteLater();
+    }
+    _complexItems = newComplexItems;
 
     _recalcAll();
 
-    emit missionItemsChanged();
-    emit complexMissionItemsChanged();
+    emit visualItemsChanged();
+    emit complexVisualItemsChanged();
 
-    _missionItems->setDirty(false);
+    _visualItems->setDirty(false);
 
-    connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
+    connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
 }
 
-void MissionController::_deinitAllMissionItems(void)
+void MissionController::_deinitAllVisualItems(void)
 {
-    for (int i=0; i<_missionItems->count(); i++) {
-        _deinitMissionItem(qobject_cast<MissionItem*>(_missionItems->get(i)));
+    for (int i=0; i<_visualItems->count(); i++) {
+        _deinitVisualItem(qobject_cast<VisualMissionItem*>(_visualItems->get(i)));
     }
 
-    connect(_missionItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
+    connect(_visualItems, &QmlObjectListModel::dirtyChanged, this, &MissionController::_dirtyChanged);
 }
 
-void MissionController::_initMissionItem(MissionItem* item)
+void MissionController::_initVisualItem(VisualMissionItem* visualItem)
 {
-    _missionItems->setDirty(false);
+    _visualItems->setDirty(false);
+
+    connect(visualItem, &VisualMissionItem::coordinateChanged,                          this, &MissionController::_itemCoordinateChanged);
+    connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,       this, &MissionController::_recalcWaypointLines);
+    connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged,   this, &MissionController::_recalcWaypointLines);
 
-    connect(item, &MissionItem::commandChanged,     this, &MissionController::_itemCommandChanged);
-    connect(item, &MissionItem::coordinateChanged,  this, &MissionController::_itemCoordinateChanged);
-    connect(item, &MissionItem::frameChanged,       this, &MissionController::_itemFrameChanged);
+    if (visualItem->isSimpleItem()) {
+        // We need to track commandChanged on simple item since recalc has special handling for takeoff command
+
+        SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+        if (simpleItem) {
+            connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
+        } else {
+            qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
+        }
+    }
 }
 
-void MissionController::_deinitMissionItem(MissionItem* item)
+void MissionController::_deinitVisualItem(VisualMissionItem* visualItem)
 {
-    disconnect(item, &MissionItem::commandChanged,     this, &MissionController::_itemCommandChanged);
-    disconnect(item, &MissionItem::coordinateChanged,  this, &MissionController::_itemCoordinateChanged);
-    disconnect(item, &MissionItem::frameChanged,       this, &MissionController::_itemFrameChanged);
+    // Disconnect all signals
+    disconnect(visualItem, 0, 0, 0);
 }
 
 void MissionController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
@@ -686,15 +784,8 @@ void MissionController::_itemCoordinateChanged(const QGeoCoordinate& coordinate)
     _recalcWaypointLines();
 }
 
-void MissionController::_itemFrameChanged(int frame)
+void MissionController::_itemCommandChanged(void)
 {
-    Q_UNUSED(frame);
-    _recalcWaypointLines();
-}
-
-void MissionController::_itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command)
-{
-    Q_UNUSED(command);;
     _recalcChildItems();
     _recalcWaypointLines();
 }
@@ -732,20 +823,29 @@ void MissionController::_activeVehicleChanged(Vehicle* activeVehicle)
         _activeVehicleHomePositionChanged(_activeVehicle->homePosition());
         _activeVehicleHomePositionAvailableChanged(_activeVehicle->homePositionAvailable());
     }
+
+    // Whenever vehicle changes we need to update syncInProgress
+    emit syncInProgressChanged(syncInProgress());
 }
 
 void MissionController::_activeVehicleHomePositionAvailableChanged(bool homePositionAvailable)
 {
-    if (!_editMode && _missionItems) {
-        qobject_cast<MissionItem*>(_missionItems->get(0))->setShowHomePosition(homePositionAvailable);
-        _recalcWaypointLines();
+    if (!_editMode && _visualItems) {
+        SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(0));
+
+        if (homeItem) {
+            homeItem->setShowHomePosition(homePositionAvailable);
+            _recalcWaypointLines();
+        } else {
+            qWarning() << "Unabled to cast home item to SimpleMissionItem";
+        }
     }
 }
 
 void MissionController::_activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition)
 {
-    if (!_editMode && _missionItems) {
-        qobject_cast<MissionItem*>(_missionItems->get(0))->setCoordinate(homePosition);
+    if (!_editMode && _visualItems) {
+        qobject_cast<VisualMissionItem*>(_visualItems->get(0))->setCoordinate(homePosition);
         _recalcWaypointLines();
     }
 }
@@ -784,9 +884,9 @@ void MissionController::_autoSyncSend(void)
 {
     qDebug() << "Auto-syncing with vehicle";
     _queuedSend = false;
-    if (_missionItems) {
+    if (_visualItems) {
         sendMissionItems();
-        _missionItems->setDirty(false);
+        _visualItems->setDirty(false);
     }
 }
 
@@ -798,27 +898,17 @@ void MissionController::_inProgressChanged(bool inProgress)
     }
 }
 
-QmlObjectListModel* MissionController::missionItems(void)
-{
-    return _missionItems;
-}
-
-QmlObjectListModel* MissionController::complexMissionItems(void)
-{
-    return _complexMissionItems;
-}
-
 bool MissionController::_findLastAltitude(double* lastAltitude)
 {
     bool found = false;
     double foundAltitude;
 
     // Don't use home position
-    for (int i=1; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=1; i<_visualItems->count(); i++) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
-        if (item->specifiesCoordinate() && !item->standaloneCoordinate()) {
-            foundAltitude = item->param7();
+        if (item->specifiesCoordinate() && !item->isStandaloneCoordinate()) {
+            foundAltitude = item->exitCoordinate().altitude();
             found = true;
         }
     }
@@ -835,12 +925,20 @@ bool MissionController::_findLastAcceptanceRadius(double* lastAcceptanceRadius)
     bool found = false;
     double foundAcceptanceRadius;
 
-    for (int i=0; i<_missionItems->count(); i++) {
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+    for (int i=0; i<_visualItems->count(); i++) {
+        VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
 
-        if ((MAV_CMD)item->command() == MAV_CMD_NAV_WAYPOINT) {
-            foundAcceptanceRadius = item->param2();
-            found = true;
+        if (visualItem->isSimpleItem()) {
+            SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
+
+            if (simpleItem) {
+                if ((MAV_CMD)simpleItem->command() == MAV_CMD_NAV_WAYPOINT) {
+                    foundAcceptanceRadius = simpleItem->missionItem().param2();
+                    found = true;
+                }
+            } else {
+                qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
+            }
         }
     }
 
@@ -864,21 +962,21 @@ double MissionController::_normalizeLon(double lon)
 }
 
 /// Add the home position item to the front of the list
-void MissionController::_addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter)
+void MissionController::_addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter)
 {
-    MissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
-    missionItems->insert(0, homeItem);
+    SimpleMissionItem* homeItem = new SimpleMissionItem(_activeVehicle, this);
+    visualItems->insert(0, homeItem);
 
-    if (missionItems->count() > 1  && addToCenter) {
-        MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
+    if (visualItems->count() > 1  && addToCenter) {
+        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(visualItems->get(1));
 
         double north = _normalizeLat(item->coordinate().latitude());
         double south = north;
         double east = _normalizeLon(item->coordinate().longitude());
         double west = east;
 
-        for (int i=2; i<missionItems->count(); i++) {
-            item = qobject_cast<MissionItem*>(missionItems->get(i));
+        for (int i=2; i<visualItems->count(); i++) {
+            item = qobject_cast<VisualMissionItem*>(visualItems->get(i));
 
             double lat = _normalizeLat(item->coordinate().latitude());
             double lon = _normalizeLon(item->coordinate().longitude());
@@ -902,8 +1000,8 @@ void MissionController::_currentMissionItemChanged(int sequenceNumber)
             sequenceNumber++;
         }
 
-        for (int i=0; i<_missionItems->count(); i++) {
-            MissionItem* item = qobject_cast<MissionItem*>(_missionItems->get(i));
+        for (int i=0; i<_visualItems->count(); i++) {
+            VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
             item->setIsCurrentItem(item->sequenceNumber() == sequenceNumber);
         }
     }
@@ -931,6 +1029,9 @@ QStringList MissionController::getMobileMissionFiles(void)
 
 bool MissionController::syncInProgress(void)
 {
-    qDebug() << _activeVehicle->missionManager()->inProgress();
-    return _activeVehicle->missionManager()->inProgress();
+    if (_activeVehicle) {
+        return _activeVehicle->missionManager()->inProgress();
+    } else {
+        return false;
+    }
 }

src/MissionManager/MissionController.h

@@ -30,7 +30,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Vehicle.h"
 #include "QGCLoggingCategory.h"
 #include "MavlinkQmlSingleton.h"
-#include "MissionItem.h"
+#include "VisualMissionItem.h"
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -42,11 +42,11 @@ public:
     MissionController(QObject* parent = NULL);
     ~MissionController();
 
-    Q_PROPERTY(QmlObjectListModel*  missionItems                READ missionItems                   NOTIFY missionItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  complexMissionItems         READ complexMissionItems            NOTIFY complexMissionItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*  waypointLines               READ waypointLines                  NOTIFY waypointLinesChanged)
-    Q_PROPERTY(bool                 autoSync                    READ autoSync   WRITE setAutoSync   NOTIFY autoSyncChanged)
-    Q_PROPERTY(bool                 syncInProgress              READ syncInProgress                 NOTIFY syncInProgressChanged)
+    Q_PROPERTY(QmlObjectListModel*  visualItems         READ visualItems                                NOTIFY visualItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  complexVisualItems  READ complexVisualItems                         NOTIFY complexVisualItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  waypointLines       READ waypointLines                              NOTIFY waypointLinesChanged)
+    Q_PROPERTY(bool                 autoSync            READ autoSync               WRITE setAutoSync   NOTIFY autoSyncChanged)
+    Q_PROPERTY(bool                 syncInProgress      READ syncInProgress                             NOTIFY syncInProgressChanged)
 
     Q_INVOKABLE void start(bool editMode);
     Q_INVOKABLE void getMissionItems(void);
@@ -67,16 +67,17 @@ public:
 
     // Property accessors
 
-    QmlObjectListModel* missionItems(void);
-    QmlObjectListModel* complexMissionItems(void);
-    QmlObjectListModel* waypointLines(void) { return &_waypointLines; }
+    QmlObjectListModel* visualItems         (void) { return _visualItems; }
+    QmlObjectListModel* complexVisualItems  (void) { return _complexItems; }
+    QmlObjectListModel* waypointLines       (void) { return &_waypointLines; }
+
     bool autoSync(void) { return _autoSync; }
     void setAutoSync(bool autoSync);
     bool syncInProgress(void);
 
 signals:
-    void missionItemsChanged(void);
-    void complexMissionItemsChanged(void);
+    void visualItemsChanged(void);
+    void complexVisualItemsChanged(void);
     void waypointLinesChanged(void);
     void autoSyncChanged(bool autoSync);
     void newItemsFromVehicle(void);
@@ -85,41 +86,40 @@ signals:
 private slots:
     void _newMissionItemsAvailableFromVehicle();
     void _itemCoordinateChanged(const QGeoCoordinate& coordinate);
-    void _itemFrameChanged(int frame);
-    void _itemCommandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
+    void _itemCommandChanged(void);
     void _activeVehicleChanged(Vehicle* activeVehicle);
     void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
     void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
     void _dirtyChanged(bool dirty);
     void _inProgressChanged(bool inProgress);
     void _currentMissionItemChanged(int sequenceNumber);
+    void _recalcWaypointLines(void);
 
 private:
     void _recalcSequence(void);
-    void _recalcWaypointLines(void);
     void _recalcChildItems(void);
     void _recalcAll(void);
-    void _initAllMissionItems(void);
-    void _deinitAllMissionItems(void);
-    void _initMissionItem(MissionItem* item);
-    void _deinitMissionItem(MissionItem* item);
+    void _initAllVisualItems(void);
+    void _deinitAllVisualItems(void);
+    void _initVisualItem(VisualMissionItem* item);
+    void _deinitVisualItem(VisualMissionItem* item);
     void _autoSyncSend(void);
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
-    void _calcPrevWaypointValues(double homeAlt, MissionItem* currentItem, MissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
+    void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
     bool _findLastAltitude(double* lastAltitude);
     bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
-    void _addPlannedHomePosition(QmlObjectListModel* missionItems, bool addToCenter);
+    void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
     double _normalizeLat(double lat);
     double _normalizeLon(double lon);
-    bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString);
-    bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* missionItems, QString& errorString);
+    bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
+    bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     void _loadMissionFromFile(const QString& file);
     void _saveMissionToFile(const QString& file);
 
 private:
     bool                _editMode;
-    QmlObjectListModel* _missionItems;
-    QmlObjectListModel* _complexMissionItems;
+    QmlObjectListModel* _visualItems;
+    QmlObjectListModel* _complexItems;
     QmlObjectListModel  _waypointLines;
     Vehicle*            _activeVehicle;
     bool                _autoSync;

src/MissionManager/MissionControllerManagerTest.cc

@@ -63,7 +63,7 @@ void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareTy
     }
     
     QVERIFY(!_missionManager->inProgress());
-    QCOMPARE(_missionManager->missionItems()->count(), 0);
+    QCOMPARE(_missionManager->missionItems().count(), 0);
     _multiSpyMissionManager->clearAllSignals();
 }
 

src/MissionManager/MissionControllerTest.cc

@@ -24,6 +24,7 @@
 #include "MissionControllerTest.h"
 #include "LinkManager.h"
 #include "MultiVehicleManager.h"
+#include "SimpleMissionItem.h"
 
 MissionControllerTest::MissionControllerTest(void)
     : _multiSpyMissionController(NULL)
@@ -62,7 +63,7 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     _rgMissionItemSignals[coordinateChangedSignalIndex] = SIGNAL(coordinateChanged(const QGeoCoordinate&));
 
     // MissionController signals
-    _rgMissionControllerSignals[missionItemsChangedSignalIndex] =   SIGNAL(missionItemsChanged());
+    _rgMissionControllerSignals[visualItemsChangedSignalIndex] =    SIGNAL(visualItemsChanged());
     _rgMissionControllerSignals[waypointLinesChangedSignalIndex] =  SIGNAL(waypointLinesChanged());
 
     if (!_missionController) {
@@ -80,17 +81,17 @@ void MissionControllerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
     }
 
     // All signals should some through on start
-    QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(missionItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
+    QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(visualItemsChangedSignalMask | waypointLinesChangedSignalMask), true);
     _multiSpyMissionController->clearAllSignals();
 
-    QmlObjectListModel* missionItems = _missionController->missionItems();
-    QVERIFY(missionItems);
+    QmlObjectListModel* visualItems = _missionController->visualItems();
+    QVERIFY(visualItems);
 
     // Empty vehicle only has home position
-    QCOMPARE(missionItems->count(), 1);
+    QCOMPARE(visualItems->count(), 1);
 
     // Home position should be in first slot, but not yet valid
-    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
+    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
     QVERIFY(homeItem);
     QCOMPARE(homeItem->homePosition(), true);
 
@@ -113,9 +114,9 @@ void MissionControllerTest::_testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType)
     // FYI: A significant amount of empty vehicle testing is in _initForFirmwareType since that
     // sets up an empty vehicle
 
-    QmlObjectListModel* missionItems = _missionController->missionItems();
-    QVERIFY(missionItems);
-    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
+    QmlObjectListModel* visualItems = _missionController->visualItems();
+    QVERIFY(visualItems);
+    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
     QVERIFY(homeItem);
 
     _setupMissionItemSignals(homeItem);
@@ -137,17 +138,17 @@ void MissionControllerTest::_testAddWaypointWorker(MAV_AUTOPILOT firmwareType)
 
     QGeoCoordinate coordinate(37.803784, -122.462276);
 
-    _missionController->insertSimpleMissionItem(coordinate, _missionController->missionItems()->count());
+    _missionController->insertSimpleMissionItem(coordinate, _missionController->visualItems()->count());
 
     QCOMPARE(_multiSpyMissionController->checkOnlySignalsByMask(waypointLinesChangedSignalMask), true);
 
-    QmlObjectListModel* missionItems = _missionController->missionItems();
-    QVERIFY(missionItems);
+    QmlObjectListModel* visualItems = _missionController->visualItems();
+    QVERIFY(visualItems);
 
-    QCOMPARE(missionItems->count(), 2);
+    QCOMPARE(visualItems->count(), 2);
 
-    MissionItem* homeItem = qobject_cast<MissionItem*>(missionItems->get(0));
-    MissionItem* item = qobject_cast<MissionItem*>(missionItems->get(1));
+    SimpleMissionItem* homeItem = qobject_cast<SimpleMissionItem*>(visualItems->get(0));
+    SimpleMissionItem* item = qobject_cast<SimpleMissionItem*>(visualItems->get(1));
     QVERIFY(homeItem);
     QVERIFY(item);
 
@@ -182,13 +183,13 @@ void MissionControllerTest::_testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareTyp
     _missionController = new MissionController();
     Q_CHECK_PTR(_missionController);
     _missionController->start(true /* editMode */);
-    _missionController->insertSimpleMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->missionItems()->count());
+    _missionController->insertSimpleMissionItem(QGeoCoordinate(37.803784, -122.462276), _missionController->visualItems()->count());
 
     // Go online to empty vehicle
     MissionControllerManagerTest::_initForFirmwareType(firmwareType);
 
     // Make sure our offline mission items are still there
-    QCOMPARE(_missionController->missionItems()->count(), 2);
+    QCOMPARE(_missionController->visualItems()->count(), 2);
 }
 
 void MissionControllerTest::_testOfflineToOnlineAPM(void)
@@ -201,7 +202,7 @@ void MissionControllerTest::_testOfflineToOnlinePX4(void)
     _testOfflineToOnlineWorker(MAV_AUTOPILOT_PX4);
 }
 
-void MissionControllerTest::_setupMissionItemSignals(MissionItem* item)
+void MissionControllerTest::_setupMissionItemSignals(SimpleMissionItem* item)
 {
     delete _multiSpyMissionItem;
 

src/MissionManager/MissionControllerTest.h

@@ -30,6 +30,7 @@
 #include "MultiSignalSpy.h"
 #include "MissionControllerManagerTest.h"
 #include "MissionController.h"
+#include "SimpleMissionItem.h"
 
 #include <QGeoCoordinate>
 
@@ -55,7 +56,7 @@ private:
     void _testEmptyVehicleWorker(MAV_AUTOPILOT firmwareType);
     void _testAddWaypointWorker(MAV_AUTOPILOT firmwareType);
     void _testOfflineToOnlineWorker(MAV_AUTOPILOT firmwareType);
-    void _setupMissionItemSignals(MissionItem* item);
+    void _setupMissionItemSignals(SimpleMissionItem* item);
 
     // MissiomItems signals
 
@@ -72,13 +73,13 @@ private:
     // MissionController signals
 
     enum {
-        missionItemsChangedSignalIndex = 0,
+        visualItemsChangedSignalIndex = 0,
         waypointLinesChangedSignalIndex,
         missionControllerMaxSignalIndex
     };
 
     enum {
-        missionItemsChangedSignalMask =                 1 << missionItemsChangedSignalIndex,
+        visualItemsChangedSignalMask =                 1 << visualItemsChangedSignalIndex,
         waypointLinesChangedSignalMask =                1 << waypointLinesChangedSignalIndex,
     };
 

src/MissionManager/MissionItem.cc

@@ -28,15 +28,6 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCApplication.h"
 #include "JsonHelper.h"
 
-const double MissionItem::defaultAltitude =             25.0;
-
-FactMetaData* MissionItem::_altitudeMetaData =          NULL;
-FactMetaData* MissionItem::_commandMetaData =           NULL;
-FactMetaData* MissionItem::_defaultParamMetaData =      NULL;
-FactMetaData* MissionItem::_frameMetaData =             NULL;
-FactMetaData* MissionItem::_latitudeMetaData =          NULL;
-FactMetaData* MissionItem::_longitudeMetaData =         NULL;
-
 const char*  MissionItem::_itemType =               "missionItem";
 const char*  MissionItem::_jsonTypeKey =            "type";
 const char*  MissionItem::_jsonIdKey =              "id";
@@ -49,40 +40,10 @@ const char*  MissionItem::_jsonParam4Key =          "param4";
 const char*  MissionItem::_jsonAutoContinueKey =    "autoContinue";
 const char*  MissionItem::_jsonCoordinateKey =      "coordinate";
 
-struct EnumInfo_s {
-    const char *    label;
-    MAV_FRAME       frame;
-};
-
-static const struct EnumInfo_s _rgMavFrameInfo[] = {
-{ "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
-{ "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
-{ "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
-{ "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
-{ "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
-{ "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
-{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
-{ "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
-{ "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
-{ "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
-{ "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
-{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
-};
-
-MissionItem::MissionItem(Vehicle* vehicle, QObject* parent)
+MissionItem::MissionItem(QObject* parent)
     : QObject(parent)
-    , _vehicle(vehicle)
-    , _rawEdit(false)
-    , _dirty(false)
     , _sequenceNumber(0)
     , _isCurrentItem(false)
-    , _altDifference(0.0)
-    , _altPercent(0.0)
-    , _azimuth(0.0)
-    , _distance(0.0)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
-    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _autoContinueFact             (0, "AutoContinue",                 FactMetaData::valueTypeUint32)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
     , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
@@ -93,32 +54,15 @@ MissionItem::MissionItem(Vehicle* vehicle, QObject* parent)
     , _param5Fact                   (0, "Latitude:",                    FactMetaData::valueTypeDouble)
     , _param6Fact                   (0, "Longitude:",                   FactMetaData::valueTypeDouble)
     , _param7Fact                   (0, "Altitude:",                    FactMetaData::valueTypeDouble)
-    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
-    , _param1MetaData(FactMetaData::valueTypeDouble)
-    , _param2MetaData(FactMetaData::valueTypeDouble)
-    , _param3MetaData(FactMetaData::valueTypeDouble)
-    , _param4MetaData(FactMetaData::valueTypeDouble)
-    , _param5MetaData(FactMetaData::valueTypeDouble)
-    , _param6MetaData(FactMetaData::valueTypeDouble)
-    , _param7MetaData(FactMetaData::valueTypeDouble)
-    , _syncingAltitudeRelativeToHomeAndFrame    (false)
-    , _syncingHeadingDegreesAndParam4           (false)
-    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
     _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    _altitudeRelativeToHomeFact.setRawValue(true);
-
-    _setupMetaData();
-    _connectSignals();
 
     setAutoContinue(true);
-    setDefaultsForCommand();
 }
 
-MissionItem::MissionItem(Vehicle*       vehicle,
-                         int             sequenceNumber,
+MissionItem::MissionItem(int             sequenceNumber,
                          MAV_CMD         command,
                          MAV_FRAME       frame,
                          double          param1,
@@ -132,18 +76,8 @@ MissionItem::MissionItem(Vehicle*       vehicle,
                          bool            isCurrentItem,
                          QObject*        parent)
     : QObject(parent)
-    , _vehicle(vehicle)
-    , _rawEdit(false)
-    , _dirty(false)
     , _sequenceNumber(sequenceNumber)
     , _isCurrentItem(isCurrentItem)
-    , _altDifference(0.0)
-    , _altPercent(0.0)
-    , _azimuth(0.0)
-    , _distance(0.0)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
-    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
     , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
     , _param1Fact                   (0, "Param1:",                      FactMetaData::valueTypeDouble)
@@ -153,32 +87,15 @@ MissionItem::MissionItem(Vehicle*       vehicle,
     , _param5Fact                   (0, "Lat/X:",                       FactMetaData::valueTypeDouble)
     , _param6Fact                   (0, "Lon/Y:",                       FactMetaData::valueTypeDouble)
     , _param7Fact                   (0, "Alt/Z:",                       FactMetaData::valueTypeDouble)
-    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
-    , _param1MetaData(FactMetaData::valueTypeDouble)
-    , _param2MetaData(FactMetaData::valueTypeDouble)
-    , _param3MetaData(FactMetaData::valueTypeDouble)
-    , _param4MetaData(FactMetaData::valueTypeDouble)
-    , _param5MetaData(FactMetaData::valueTypeDouble)
-    , _param6MetaData(FactMetaData::valueTypeDouble)
-    , _param7MetaData(FactMetaData::valueTypeDouble)
-    , _syncingAltitudeRelativeToHomeAndFrame    (false)
-    , _syncingHeadingDegreesAndParam4           (false)
-    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
     _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    _altitudeRelativeToHomeFact.setRawValue(true);
-
-    _setupMetaData();
-    _connectSignals();
 
     setCommand(command);
     setFrame(frame);
     setAutoContinue(autoContinue);
 
-    _syncFrameToAltitudeRelativeToHome();
-
     _param1Fact.setRawValue(param1);
     _param2Fact.setRawValue(param2);
     _param3Fact.setRawValue(param3);
@@ -190,18 +107,8 @@ MissionItem::MissionItem(Vehicle*       vehicle,
 
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     : QObject(parent)
-    , _vehicle(NULL)
-    , _rawEdit(false)
-    , _dirty(false)
     , _sequenceNumber(0)
     , _isCurrentItem(false)
-    , _altDifference(0.0)
-    , _altPercent(0.0)
-    , _azimuth(0.0)
-    , _distance(0.0)
-    , _homePositionSpecialCase(false)
-    , _showHomePosition(false)
-    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
     , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
     , _param1Fact                   (0, "Param1:",                      FactMetaData::valueTypeDouble)
@@ -211,45 +118,21 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     , _param5Fact                   (0, "Lat/X:",                       FactMetaData::valueTypeDouble)
     , _param6Fact                   (0, "Lon/Y:",                       FactMetaData::valueTypeDouble)
     , _param7Fact                   (0, "Alt/Z:",                       FactMetaData::valueTypeDouble)
-    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
-    , _param1MetaData(FactMetaData::valueTypeDouble)
-    , _param2MetaData(FactMetaData::valueTypeDouble)
-    , _param3MetaData(FactMetaData::valueTypeDouble)
-    , _param4MetaData(FactMetaData::valueTypeDouble)
-    , _syncingAltitudeRelativeToHomeAndFrame    (false)
-    , _syncingHeadingDegreesAndParam4           (false)
-    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
     _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    _altitudeRelativeToHomeFact.setRawValue(true);
-
-    _setupMetaData();
-    _connectSignals();
 
     *this = other;
 }
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
 {
-    _vehicle = other._vehicle;
-
     setCommand(other.command());
     setFrame(other.frame());
-    setRawEdit(other._rawEdit);
-    setDirty(other._dirty);
     setSequenceNumber(other._sequenceNumber);
     setAutoContinue(other.autoContinue());
     setIsCurrentItem(other._isCurrentItem);
-    setAltDifference(other._altDifference);
-    setAltPercent(other._altPercent);
-    setAzimuth(other._azimuth);
-    setDistance(other._distance);
-    setHomePositionSpecialCase(other._homePositionSpecialCase);
-    setShowHomePosition(other._showHomePosition);
-
-    _syncFrameToAltitudeRelativeToHome();
 
     _param1Fact.setRawValue(other._param1Fact.rawValue());
     _param2Fact.setRawValue(other._param2Fact.rawValue());
@@ -261,96 +144,6 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
 
     return *this;
 }
-
-void MissionItem::_connectSignals(void)
-{
-    // Connect to change signals to track dirty state
-    connect(&_param1Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param2Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param3Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param4Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param5Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param6Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_param7Fact,   &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_frameFact,    &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(&_commandFact,  &Fact::valueChanged,                    this, &MissionItem::_setDirtyFromSignal);
-    connect(this,           &MissionItem::sequenceNumberChanged,    this, &MissionItem::_setDirtyFromSignal);
-
-    // Values from these facts must propogate back and forth between the real object storage
-    connect(&_altitudeRelativeToHomeFact,   &Fact::valueChanged,        this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
-    connect(this,                           &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
-
-    // These are parameter coordinates, they must emit coordinateChanged signal
-    connect(&_param5Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
-    connect(&_param6Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
-    connect(&_param7Fact, &Fact::valueChanged, this, &MissionItem::_sendCoordinateChanged);
-
-    // The following changes may also change friendlyEditAllowed
-    connect(&_autoContinueFact, &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
-    connect(&_commandFact,      &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
-    connect(&_frameFact,        &Fact::valueChanged,        this, &MissionItem::_sendFriendlyEditAllowedChanged);
-
-    // When the command changes we need to set defaults. This must go out before the signals below so it must be registered first.
-    connect(&_commandFact,  &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand);
-
-    // Whenever these properties change the ui model changes as well
-    connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged);
-    connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged);
-
-    // These fact signals must alway signal out through MissionItem signals
-    connect(&_commandFact,  &Fact::valueChanged, this, &MissionItem::_sendCommandChanged);
-    connect(&_frameFact,    &Fact::valueChanged, this, &MissionItem::_sendFrameChanged);
-
-}
-
-void MissionItem::_setupMetaData(void)
-{
-    QStringList enumStrings;
-    QVariantList enumValues;
-
-    if (!_altitudeMetaData) {
-        _altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
-        _altitudeMetaData->setRawUnits("meters");
-        _altitudeMetaData->setDecimalPlaces(2);
-
-        enumStrings.clear();
-        enumValues.clear();
-        foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
-            const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
-            enumStrings.append(mavCmdInfo->rawName());
-            enumValues.append(QVariant(mavCmdInfo->command()));
-        }
-        _commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
-        _commandMetaData->setEnumInfo(enumStrings, enumValues);
-
-        _defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
-        _defaultParamMetaData->setDecimalPlaces(7);
-
-        enumStrings.clear();
-        enumValues.clear();
-        for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
-            const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
-
-            enumStrings.append(mavFrameInfo->label);
-            enumValues.append(QVariant(mavFrameInfo->frame));
-        }
-        _frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
-        _frameMetaData->setEnumInfo(enumStrings, enumValues);
-
-        _latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
-        _latitudeMetaData->setRawUnits("deg");
-        _latitudeMetaData->setDecimalPlaces(7);
-
-        _longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
-        _longitudeMetaData->setRawUnits("deg");
-        _longitudeMetaData->setDecimalPlaces(7);
-
-    }
-
-    _commandFact.setMetaData(_commandMetaData);
-    _frameFact.setMetaData(_frameMetaData);
-}
-
 MissionItem::~MissionItem()
 {    
 }
@@ -414,7 +207,9 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
     if (!JsonHelper::toQGeoCoordinate(json[_jsonCoordinateKey], coordinate, true /* altitudeRequired */, errorString)) {
         return false;
     }
-    setCoordinate(coordinate);
+    setParam5(coordinate.latitude());
+    setParam6(coordinate.longitude());
+    setParam7(coordinate.altitude());
 
     setIsCurrentItem(false);
     setSequenceNumber(json[_jsonIdKey].toInt());
@@ -432,30 +227,23 @@ bool MissionItem::load(const QJsonObject& json, QString& errorString)
 
 void MissionItem::setSequenceNumber(int sequenceNumber)
 {
-    _sequenceNumber = sequenceNumber;
-    emit sequenceNumberChanged(_sequenceNumber);
+    if (_sequenceNumber != sequenceNumber) {
+        _sequenceNumber = sequenceNumber;
+        emit sequenceNumberChanged(_sequenceNumber);
+    }
 }
 
 void MissionItem::setCommand(MAV_CMD command)
 {
     if ((MAV_CMD)this->command() != command) {
         _commandFact.setRawValue(command);
-        setDefaultsForCommand();
-        emit commandChanged(this->command());
     }
 }
 
-void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
-{
-    setCommand((MAV_CMD)command);
-}
-
-
 void MissionItem::setFrame(MAV_FRAME frame)
 {
     if (this->frame() != frame) {
         _frameFact.setRawValue(frame);
-        frameChanged(frame);
     }
 }
 
@@ -523,175 +311,6 @@ void MissionItem::setParam7(double param)
     }
 }
 
-bool MissionItem::standaloneCoordinate(void) const
-{
-    if (_missionCommands->contains((MAV_CMD)command())) {
-        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->standaloneCoordinate();
-    } else {
-        return false;
-    }
-}
-
-bool MissionItem::specifiesCoordinate(void) const
-{
-    if (_missionCommands->contains((MAV_CMD)command())) {
-        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
-    } else {
-        return false;
-    }
-}
-
-QString MissionItem::commandDescription(void) const
-{
-    if (_missionCommands->contains((MAV_CMD)command())) {
-        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
-    } else {
-        qWarning() << "Should not ask for command description on unknown command";
-        return QString();
-    }
-}
-
-void MissionItem::_clearParamMetaData(void)
-{
-    _param1MetaData.setRawUnits("");
-    _param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
-    _param2MetaData.setRawUnits("");
-    _param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
-    _param3MetaData.setRawUnits("");
-    _param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
-    _param4MetaData.setRawUnits("");
-    _param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
-}
-
-QmlObjectListModel* MissionItem::textFieldFacts(void)
-{
-    QmlObjectListModel* model = new QmlObjectListModel(this);
-    
-    if (rawEdit()) {
-        _param1Fact._setName("Param1:");
-        _param1Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param1Fact);
-        _param2Fact._setName("Param2:");
-        _param2Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param2Fact);
-        _param3Fact._setName("Param3:");
-        _param3Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param3Fact);
-        _param4Fact._setName("Param4:");
-        _param4Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param4Fact);
-        _param5Fact._setName("Lat/X:");
-        _param5Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param5Fact);
-        _param6Fact._setName("Lon/Y:");
-        _param6Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param6Fact);
-        _param7Fact._setName("Alt/Z:");
-        _param7Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_param7Fact);
-    } else {
-        _clearParamMetaData();
-
-        MAV_CMD command;
-        if (_homePositionSpecialCase) {
-            command = MAV_CMD_NAV_LAST;
-        } else {
-            command = (MAV_CMD)this->command();
-        }
-
-        Fact*           rgParamFacts[7] =       { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
-        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
-
-        bool altitudeAdded = false;
-        for (int i=1; i<=7; i++) {
-            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
-
-            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
-                Fact*               paramFact =     rgParamFacts[i-1];
-                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
-                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];
-
-                paramFact->_setName(paramInfo->label());
-                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
-                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
-                paramMetaData->setRawUnits(paramInfo->units());
-                paramFact->setMetaData(paramMetaData);
-                model->append(paramFact);
-
-                if (i == 7) {
-                    altitudeAdded = true;
-                }
-            }
-        }
-
-        if (specifiesCoordinate() && !altitudeAdded) {
-            _param7Fact._setName("Altitude:");
-            _param7Fact.setMetaData(_altitudeMetaData);
-            model->append(&_param7Fact);
-        }
-    }
-    
-    return model;
-}
-
-QmlObjectListModel* MissionItem::checkboxFacts(void)
-{
-    QmlObjectListModel* model = new QmlObjectListModel(this);
-    
-
-    if (rawEdit()) {
-        model->append(&_autoContinueFact);
-    } else if (specifiesCoordinate() && !_homePositionSpecialCase) {
-        model->append(&_altitudeRelativeToHomeFact);
-    }
-
-    return model;
-}
-
-QmlObjectListModel* MissionItem::comboboxFacts(void)
-{
-    QmlObjectListModel* model = new QmlObjectListModel(this);
-
-    if (rawEdit()) {
-        model->append(&_commandFact);
-        model->append(&_frameFact);
-    } else {
-        Fact*           rgParamFacts[7] =       { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
-        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
-
-        MAV_CMD command;
-        if (_homePositionSpecialCase) {
-            command = MAV_CMD_NAV_LAST;
-        } else {
-            command = (MAV_CMD)this->command();
-        }
-
-        for (int i=1; i<=7; i++) {
-            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
-
-            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
-                Fact*               paramFact =     rgParamFacts[i-1];
-                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
-                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];
-
-                paramFact->_setName(paramInfo->label());
-                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
-                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
-                paramMetaData->setRawUnits(paramInfo->units());
-                paramFact->setMetaData(paramMetaData);
-                model->append(paramFact);
-            }
-        }
-    }
-
-    return model;
-}
-
-QGeoCoordinate MissionItem::coordinate(void) const
-{
-    return QGeoCoordinate(_param5Fact.rawValue().toDouble(), _param6Fact.rawValue().toDouble(), _param7Fact.rawValue().toDouble());
-}
-
 void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
     setParam5(coordinate.latitude());
@@ -699,166 +318,7 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     setParam7(coordinate.altitude());
 }
 
-bool MissionItem::friendlyEditAllowed(void) const
-{
-    if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
-        if (!autoContinue()) {
-            return false;
-        }
-
-        if (specifiesCoordinate()) {
-            return frame() == MAV_FRAME_GLOBAL || frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
-        }
-
-        return true;
-    }
-
-    return false;
-}
-
-bool MissionItem::rawEdit(void) const
-{
-    return _rawEdit || !friendlyEditAllowed();
-}
-
-void MissionItem::setRawEdit(bool rawEdit)
-{
-    if (this->rawEdit() != rawEdit) {
-        _rawEdit = rawEdit;
-        emit rawEditChanged(this->rawEdit());
-    }
-}
-
-void MissionItem::setDirty(bool dirty)
-{
-    if (!_homePositionSpecialCase || !dirty) {
-        // Home position never affects dirty bit
-
-        _dirty = dirty;
-        // We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
-        // any value within the item changing.
-        emit dirtyChanged(_dirty);
-    }
-}
-
-void MissionItem::_setDirtyFromSignal(void)
-{
-    setDirty(true);
-}
-
-void MissionItem::setDistance(double distance)
-{
-    _distance = distance;
-    emit distanceChanged(_distance);
-}
-
-void MissionItem::setAltDifference(double altDifference)
-{
-    _altDifference = altDifference;
-    emit altDifferenceChanged(_altDifference);
-}
-
-void MissionItem::setAltPercent(double altPercent)
-{
-    _altPercent = altPercent;
-    emit altPercentChanged(_altPercent);
-}
-
-void MissionItem::setAzimuth(double azimuth)
-{
-    _azimuth = azimuth;
-    emit azimuthChanged(_azimuth);
-}
-
-void MissionItem::_sendCoordinateChanged(void)
-{
-    emit coordinateChanged(coordinate());
-}
-
-void MissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
-{
-    if (!_syncingAltitudeRelativeToHomeAndFrame) {
-        _syncingAltitudeRelativeToHomeAndFrame = true;
-        setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
-        _syncingAltitudeRelativeToHomeAndFrame = false;
-    }
-}
-
-void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
-{
-    if (!_syncingAltitudeRelativeToHomeAndFrame) {
-        _syncingAltitudeRelativeToHomeAndFrame = true;
-        _altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
-        _syncingAltitudeRelativeToHomeAndFrame = false;
-    }
-}
-
-void MissionItem::setDefaultsForCommand(void)
-{
-    // We set these global defaults first, then if there are param defaults they will get reset
-    setParam7(defaultAltitude);
-
-    MAV_CMD command = (MAV_CMD)this->command();
-    if (_missionCommands->contains(command)) {
-        MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
-        foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
-            Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
-
-            rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
-        }
-    }
-
-    if (command == MAV_CMD_NAV_WAYPOINT) {
-        // We default all acceptance radius to 0. This allows flight controller to be in control of
-        // accept radius.
-        setParam2(0);
-    }
-
-    setAutoContinue(true);
-    setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
-    setRawEdit(false);
-}
-
-void MissionItem::_sendUiModelChanged(void)
-{
-    emit uiModelChanged();
-}
-
-void MissionItem::_sendFrameChanged(void)
-{
-    emit frameChanged(frame());
-}
-
-void MissionItem::_sendCommandChanged(void)
-{
-    emit commandChanged(command());
-}
-
-QString MissionItem::commandName(void) const
-{
-    MAV_CMD command = (MAV_CMD)this->command();
-    if (_missionCommands->contains(command)) {
-        const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
-        return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
-    } else {
-        return QString("Unknown: %1").arg(command);
-    }
-}
-
-void MissionItem::_sendFriendlyEditAllowedChanged(void)
-{
-    emit friendlyEditAllowedChanged(friendlyEditAllowed());
-}
-
-QString MissionItem::category(void) const
-{
-    return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
-}
-
-void MissionItem::setShowHomePosition(bool showHomePosition)
+QGeoCoordinate MissionItem::coordinate(void) const
 {
-    if (showHomePosition != _showHomePosition) {
-        _showHomePosition = showHomePosition;
-        emit showHomePositionChanged(_showHomePosition);
-    }
+    return QGeoCoordinate(param5(), param6(), param7());
 }

src/MissionManager/MissionItem.h

@@ -40,16 +40,22 @@
 #include "QmlObjectListModel.h"
 #include "MissionCommands.h"
 
-// Abstract base class for Simple and Complex MissionItem obejcts.
+class ComplexMissionItem;
+class SimpleMissionItem;
+class MissionController;
+#ifdef UNITTEST_BUILD
+    class MissionItemTest;
+#endif
+
+// Represents a Mavlink mission command.
 class MissionItem : public QObject
 {
     Q_OBJECT
     
 public:
-    MissionItem(Vehicle* vehicle, QObject* parent = NULL);
+    MissionItem(QObject* parent = NULL);
 
-    MissionItem(Vehicle*        vehicle,
-                int             sequenceNumber,
+    MissionItem(int             sequenceNumber,
                 MAV_CMD         command,
                 MAV_FRAME       frame,
                 double          param1,
@@ -69,179 +75,48 @@ public:
 
     const MissionItem& operator=(const MissionItem& other);
     
-    Q_PROPERTY(double           altDifference           READ altDifference          WRITE setAltDifference      NOTIFY altDifferenceChanged)        ///< Change in altitude from previous waypoint
-    Q_PROPERTY(double           altPercent              READ altPercent             WRITE setAltPercent         NOTIFY altPercentChanged)           ///< Percent of total altitude change in mission altitude
-    Q_PROPERTY(double           azimuth                 READ azimuth                WRITE setAzimuth            NOTIFY azimuthChanged)              ///< Azimuth to previous waypoint
-    Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
-    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
-    Q_PROPERTY(QString          commandDescription      READ commandDescription                                 NOTIFY commandChanged)
-    Q_PROPERTY(QString          commandName             READ commandName                                        NOTIFY commandChanged)
-    Q_PROPERTY(bool             dirty                   READ dirty                  WRITE setDirty              NOTIFY dirtyChanged)
-    Q_PROPERTY(double           distance                READ distance               WRITE setDistance           NOTIFY distanceChanged)             ///< Distance to previous waypoint
-    Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
-    Q_PROPERTY(bool             homePosition            READ homePosition                                       CONSTANT)                           ///< true: This item is being used as a home position indicator
-    Q_PROPERTY(bool             isCurrentItem           READ isCurrentItem          WRITE setIsCurrentItem      NOTIFY isCurrentItemChanged)
-    Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
-    Q_PROPERTY(bool             relativeAltitude        READ relativeAltitude                                   NOTIFY frameChanged)
-    Q_PROPERTY(int              sequenceNumber          READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
-    Q_PROPERTY(bool             standaloneCoordinate    READ standaloneCoordinate                               NOTIFY commandChanged)
-    Q_PROPERTY(bool             specifiesCoordinate     READ specifiesCoordinate                                NOTIFY commandChanged)
-    Q_PROPERTY(bool             showHomePosition        READ showHomePosition       WRITE setShowHomePosition   NOTIFY showHomePositionChanged)
-
-    // Mission item has two coordinates associated with them:
-    //  coordinate:     This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
-    //  exitCoordinate  This is the exit point for a waypoint line coming out of the item. For a SimpleMissionItem this will be the same as
-    //                  coordinate. For a ComplexMissionItem it may be different than the entry coordinate.
-    Q_PROPERTY(QGeoCoordinate   coordinate              READ coordinate             WRITE setCoordinate         NOTIFY coordinateChanged)
-    Q_PROPERTY(QGeoCoordinate   exitCoordinate          READ exitCoordinate                                     NOTIFY exitCoordinateChanged)
-
-    /// @return true: SimpleMissionItem, false: ComplexMissionItem
-    Q_PROPERTY(bool             simpleItem              READ simpleItem                                         NOTIFY simpleItemChanged)
-
-    // These properties are used to display the editing ui
-    Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
-    Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  NOTIFY uiModelChanged)
-    Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts NOTIFY uiModelChanged)
-
-    /// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
-    /// are shown next to the part item in the ui.
-    Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)
-
-    // Property accesors
-    
-    double          altDifference       (void) const    { return _altDifference; }
-    double          altPercent          (void) const    { return _altPercent; }
-    double          azimuth             (void) const    { return _azimuth; }
-    QString         category            (void) const;
-    MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
-    QString         commandDescription  (void) const;
-    QString         commandName         (void) const;
-    QGeoCoordinate  coordinate          (void) const;
-    bool            dirty               (void) const    { return _dirty; }
-    double          distance            (void) const    { return _distance; }
-    bool            friendlyEditAllowed (void) const;
-    bool            homePosition        (void) const    { return _homePositionSpecialCase; }
-    bool            isCurrentItem       (void) const    { return _isCurrentItem; }
-    bool            rawEdit             (void) const;
-    int             sequenceNumber      (void) const    { return _sequenceNumber; }
-    bool            standaloneCoordinate(void) const;
-    bool            specifiesCoordinate (void) const;
-    bool            showHomePosition    (void) const    { return _showHomePosition; }
-
-
-    QmlObjectListModel* textFieldFacts  (void);
-    QmlObjectListModel* checkboxFacts   (void);
-    QmlObjectListModel* comboboxFacts   (void);
-    QmlObjectListModel* childItems      (void) { return &_childItems; }
-
-    void setRawEdit(bool rawEdit);
-    void setDirty(bool dirty);
-    void setSequenceNumber(int sequenceNumber);
-    
-    void setIsCurrentItem(bool isCurrentItem);
-    
-    void setCoordinate(const QGeoCoordinate& coordinate);
-    
-    void setCommandByIndex(int index);
-
-    void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
-
-    void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
-    void setShowHomePosition(bool showHomePosition);
-
-    void setAltDifference   (double altDifference);
-    void setAltPercent      (double altPercent);
-    void setAzimuth         (double azimuth);
-    void setDistance        (double distance);
-
-    // C++ only methods
-
-    MAV_FRAME   frame       (void)  const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
-    bool        autoContinue(void)  const { return _autoContinueFact.rawValue().toBool(); }
-    double      param1      (void)  const { return _param1Fact.rawValue().toDouble(); }
-    double      param2      (void)  const { return _param2Fact.rawValue().toDouble(); }
-    double      param3      (void)  const { return _param3Fact.rawValue().toDouble(); }
-    double      param4      (void)  const { return _param4Fact.rawValue().toDouble(); }
-    double      param5      (void)  const { return _param5Fact.rawValue().toDouble(); }
-    double      param6      (void)  const { return _param6Fact.rawValue().toDouble(); }
-    double      param7      (void)  const { return _param7Fact.rawValue().toDouble(); }
-
-    void setCommand     (MAV_CMD command);
-    void setFrame       (MAV_FRAME frame);
-    void setAutoContinue(bool autoContinue);
-    void setParam1      (double param1);
-    void setParam2      (double param2);
-    void setParam3      (double param3);
-    void setParam4      (double param4);
-    void setParam5      (double param5);
-    void setParam6      (double param6);
-    void setParam7      (double param7);
-
-    // C++ only methods
+    MAV_CMD         command         (void) const { return (MAV_CMD)_commandFact.rawValue().toInt(); }
+    bool            isCurrentItem   (void) const { return _isCurrentItem; }
+    int             sequenceNumber  (void) const { return _sequenceNumber; }
+    MAV_FRAME       frame           (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
+    bool            autoContinue    (void) const { return _autoContinueFact.rawValue().toBool(); }
+    double          param1          (void) const { return _param1Fact.rawValue().toDouble(); }
+    double          param2          (void) const { return _param2Fact.rawValue().toDouble(); }
+    double          param3          (void) const { return _param3Fact.rawValue().toDouble(); }
+    double          param4          (void) const { return _param4Fact.rawValue().toDouble(); }
+    double          param5          (void) const { return _param5Fact.rawValue().toDouble(); }
+    double          param6          (void) const { return _param6Fact.rawValue().toDouble(); }
+    double          param7          (void) const { return _param7Fact.rawValue().toDouble(); }
+    QGeoCoordinate  coordinate      (void) const;
+
+    void setCommand         (MAV_CMD command);
+    void setSequenceNumber  (int sequenceNumber);
+    void setIsCurrentItem   (bool isCurrentItem);
+    void setFrame           (MAV_FRAME frame);
+    void setAutoContinue    (bool autoContinue);
+    void setParam1          (double param1);
+    void setParam2          (double param2);
+    void setParam3          (double param3);
+    void setParam4          (double param4);
+    void setParam5          (double param5);
+    void setParam6          (double param6);
+    void setParam7          (double param7);
+    void setCoordinate      (const QGeoCoordinate& coordinate);
     
     void save(QJsonObject& json);
     bool load(QTextStream &loadStream);
     bool load(const QJsonObject& json, QString& errorString);
 
-    bool relativeAltitude(void) { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
-
-    static const double defaultAltitude;
-
-    // Pure virtuals which must be provides by derived classes
-    virtual bool            simpleItem(void) const = 0;
-    virtual QGeoCoordinate  exitCoordinate(void) const = 0;
-
-public slots:
-    void setDefaultsForCommand(void);
+    bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
 signals:
-    void altDifferenceChanged       (double altDifference);
-    void altPercentChanged          (double altPercent);
-    void azimuthChanged             (double azimuth);
-    void commandChanged             (MavlinkQmlSingleton::Qml_MAV_CMD command);
-    void coordinateChanged          (const QGeoCoordinate& coordinate);
-    void exitCoordinateChanged      (const QGeoCoordinate& exitCoordinate);
-    void dirtyChanged               (bool dirty);
-    void distanceChanged            (double distance);
-    void frameChanged               (int frame);
-    void friendlyEditAllowedChanged (bool friendlyEditAllowed);
-    void headingDegreesChanged      (double heading);
     void isCurrentItemChanged       (bool isCurrentItem);
-    void rawEditChanged             (bool rawEdit);
     void sequenceNumberChanged      (int sequenceNumber);
-    void uiModelChanged             (void);
-    void showHomePositionChanged    (bool showHomePosition);
-    void simpleItemChanged          (bool simpleItem);
     
-private slots:
-    void _setDirtyFromSignal(void);
-    void _sendCommandChanged(void);
-    void _sendCoordinateChanged(void);
-    void _sendFrameChanged(void);
-    void _sendFriendlyEditAllowedChanged(void);
-    void _sendUiModelChanged(void);
-    void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
-    void _syncFrameToAltitudeRelativeToHome(void);
-
 private:
-    void _clearParamMetaData(void);
-    void _connectSignals(void);
-    void _setupMetaData(void);
-
-private:
-    Vehicle*    _vehicle;                   ///< Vehicle associated with this item, NULL for offline mode
-    bool        _rawEdit;
-    bool        _dirty;
     int         _sequenceNumber;
     bool        _isCurrentItem;
-    double      _altDifference;             ///< Difference in altitude from previous waypoint
-    double      _altPercent;                ///< Percent of total altitude change in mission
-    double      _azimuth;                   ///< Azimuth to previous waypoint
-    double      _distance;                  ///< Distance to previous waypoint
-    bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator
-    bool        _showHomePosition;
 
-    Fact    _altitudeRelativeToHomeFact;
     Fact    _autoContinueFact;
     Fact    _commandFact;
     Fact    _frameFact;
@@ -252,31 +127,8 @@ private:
     Fact    _param5Fact;
     Fact    _param6Fact;
     Fact    _param7Fact;
-    Fact    _supportedCommandFact;
     
-    static FactMetaData*    _altitudeMetaData;
-    static FactMetaData*    _commandMetaData;
-    static FactMetaData*    _defaultParamMetaData;
-    static FactMetaData*    _frameMetaData;
-    static FactMetaData*    _latitudeMetaData;
-    static FactMetaData*    _longitudeMetaData;
-
-    FactMetaData    _param1MetaData;
-    FactMetaData    _param2MetaData;
-    FactMetaData    _param3MetaData;
-    FactMetaData    _param4MetaData;
-    FactMetaData    _param5MetaData;
-    FactMetaData    _param6MetaData;
-    FactMetaData    _param7MetaData;
-
-    /// This is used to reference any subsequent mission items which do not specify a coordinate.
-    QmlObjectListModel  _childItems;
-
-    bool _syncingAltitudeRelativeToHomeAndFrame;    ///< true: already in a sync signal, prevents signal loop
-    bool _syncingHeadingDegreesAndParam4;           ///< true: already in a sync signal, prevents signal loop
-
-    const MissionCommands*  _missionCommands;
-
+    // Keys for Json save
     static const char*  _itemType;
     static const char*  _jsonTypeKey;
     static const char*  _jsonIdKey;
@@ -288,6 +140,13 @@ private:
     static const char*  _jsonParam4Key;
     static const char*  _jsonAutoContinueKey;
     static const char*  _jsonCoordinateKey;
+
+    friend class ComplexMissionItem;
+    friend class SimpleMissionItem;
+    friend class MissionController;
+#ifdef UNITTEST_BUILD
+    friend class MissionItemTest;
+#endif
 };
 
 #endif

src/MissionManager/MissionItemTest.cc

@@ -22,171 +22,658 @@
  ======================================================================*/
 
 #include "MissionItemTest.h"
-#include "SimpleMissionItem.h"
-
-const MissionItemTest::ItemInfo_t MissionItemTest::_rgItemInfo[] = {
-    { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_LAND,         MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL_RELATIVE_ALT },
-    { MAV_CMD_CONDITION_DELAY,  MAV_FRAME_MISSION },
-    { MAV_CMD_DO_JUMP,          MAV_FRAME_MISSION },
-};
+#include "LinkManager.h"
+#include "MultiVehicleManager.h"
+#include "MissionItem.h"
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesWaypoint[] = {
-    { "Altitude:",      70.1234567 },
-    { "Hold:",          10.1234567 },
+#if 0
+const MissionItemTest::TestCase_t MissionItemTest::_rgTestCases[] = {
+    { "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "1\t0\t3\t17\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 1, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_UNLIM, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "2\t0\t3\t18\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 2, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TURNS, 10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "3\t0\t3\t19\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 3, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LOITER_TIME,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "4\t0\t3\t21\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 4, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_LAND,         10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
+    { "6\t0\t2\t112\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n", { 5, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_CONDITION_DELAY,  10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_MISSION } },
 };
+const size_t MissionItemTest::_cTestCases = sizeof(_rgTestCases)/sizeof(_rgTestCases[0]);
+#endif
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterUnlim[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
-};
+MissionItemTest::MissionItemTest(void)
+{
+    
+}
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTurns[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
-    { "Turns:",     10.1234567 },
-};
+// Test property get/set
+void MissionItemTest::_testSetGet(void)
+{
+    MissionItem missionItem;
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLoiterTime[] = {
-    { "Altitude:",  70.1234567 },
-    { "Radius:",    30.1234567 },
-    { "Hold:",      10.1234567 },
-};
+    missionItem.setSequenceNumber(1);
+    QCOMPARE(missionItem.sequenceNumber(), 1);
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesLand[] = {
-    { "Altitude:",  70.1234567 },
-    { "Abort Alt:", 10.1234567 },
-    { "Heading:",   40.1234567 },
-};
+    missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
+    QCOMPARE(missionItem.command(), MAV_CMD_NAV_WAYPOINT);
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesTakeoff[] = {
-    { "Altitude:",  70.1234567 },
-    { "Heading:",   40.1234567 },
-    { "Pitch:",     10.1234567 },
-};
+    missionItem.setFrame(MAV_FRAME_LOCAL_NED);
+    QCOMPARE(missionItem.frame(), MAV_FRAME_LOCAL_NED);
+    QCOMPARE(missionItem.relativeAltitude(), false);
+    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    QCOMPARE(missionItem.relativeAltitude(), true);
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesConditionDelay[] = {
-    { "Hold:", 10.1234567 },
-};
+    missionItem.setParam1(1.0);
+    QCOMPARE(missionItem.param1(), 1.0);
 
-const MissionItemTest::FactValue_t MissionItemTest::_rgFactValuesDoJump[] = {
-    { "Item #:",    10.1234567 },
-    { "Repeat:",    20.1234567 },
-};
+    missionItem.setParam2(2.0);
+    QCOMPARE(missionItem.param2(), 2.0);
 
-const MissionItemTest::ItemExpected_t MissionItemTest::_rgItemExpected[] = {
-    { sizeof(MissionItemTest::_rgFactValuesWaypoint)/sizeof(MissionItemTest::_rgFactValuesWaypoint[0]),             MissionItemTest::_rgFactValuesWaypoint },
-    { sizeof(MissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(MissionItemTest::_rgFactValuesLoiterUnlim[0]),       MissionItemTest::_rgFactValuesLoiterUnlim },
-    { sizeof(MissionItemTest::_rgFactValuesLoiterTurns)/sizeof(MissionItemTest::_rgFactValuesLoiterTurns[0]),       MissionItemTest::_rgFactValuesLoiterTurns },
-    { sizeof(MissionItemTest::_rgFactValuesLoiterTime)/sizeof(MissionItemTest::_rgFactValuesLoiterTime[0]),         MissionItemTest::_rgFactValuesLoiterTime },
-    { sizeof(MissionItemTest::_rgFactValuesLand)/sizeof(MissionItemTest::_rgFactValuesLand[0]),                     MissionItemTest::_rgFactValuesLand },
-    { sizeof(MissionItemTest::_rgFactValuesTakeoff)/sizeof(MissionItemTest::_rgFactValuesTakeoff[0]),               MissionItemTest::_rgFactValuesTakeoff },
-    { sizeof(MissionItemTest::_rgFactValuesConditionDelay)/sizeof(MissionItemTest::_rgFactValuesConditionDelay[0]), MissionItemTest::_rgFactValuesConditionDelay },
-    { sizeof(MissionItemTest::_rgFactValuesDoJump)/sizeof(MissionItemTest::_rgFactValuesDoJump[0]),                 MissionItemTest::_rgFactValuesDoJump },
-};
+    missionItem.setParam3(3.0);
+    QCOMPARE(missionItem.param3(), 3.0);
 
-MissionItemTest::MissionItemTest(void)
+    missionItem.setParam4(4.0);
+    QCOMPARE(missionItem.param4(), 4.0);
+
+    missionItem.setParam5(5.0);
+    QCOMPARE(missionItem.param5(), 5.0);
+
+    missionItem.setParam6(6.0);
+    QCOMPARE(missionItem.param6(), 6.0);
+
+    missionItem.setParam7(7.0);
+    QCOMPARE(missionItem.param7(), 7.0);
+
+    QCOMPARE(missionItem.coordinate(), QGeoCoordinate(5.0, 6.0, 7.0));
+
+    missionItem.setAutoContinue(false);
+    QCOMPARE(missionItem.autoContinue(), false);
+
+    missionItem.setIsCurrentItem(true);
+    QCOMPARE(missionItem.isCurrentItem(), true);
+}
+
+// Test basic signalling
+void MissionItemTest::_testSignals(void)
 {
-    
+    MissionItem missionItem(1,                                  // sequenceNumber
+                            MAV_CMD_NAV_WAYPOINT,               // command
+                            MAV_FRAME_GLOBAL_RELATIVE_ALT,      // MAV_FRAME
+                            1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,  // params
+                            true,                               // autoContinue
+                            true);                              // isCurrentItem
+
+    enum {
+        isCurrentItemChangedIndex = 0,
+        sequenceNumberChangedIndex,
+        maxSignalIndex
+    };
+
+    enum {
+        isCurrentItemChangedMask =          1 << isCurrentItemChangedIndex,
+        sequenceNumberChangedIndexMask =    1 << sequenceNumberChangedIndex
+    };
+
+    static const size_t cMissionItemSignals = maxSignalIndex;
+    const char*         rgMissionItemSignals[cMissionItemSignals];
+
+    rgMissionItemSignals[isCurrentItemChangedIndex] =   SIGNAL(isCurrentItemChanged(bool));
+    rgMissionItemSignals[sequenceNumberChangedIndex] =  SIGNAL(sequenceNumberChanged(int));
+
+    MultiSignalSpy* multiSpyMissionItem = new MultiSignalSpy();
+    Q_CHECK_PTR(multiSpyMissionItem);
+    QCOMPARE(multiSpyMissionItem->init(&missionItem, rgMissionItemSignals, cMissionItemSignals), true);
+
+    // Validate isCurrentItemChanged signalling
+    missionItem.setIsCurrentItem(true);
+    QVERIFY(multiSpyMissionItem->checkNoSignals());
+    missionItem.setIsCurrentItem(false);
+    QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(isCurrentItemChangedMask));
+    QSignalSpy* spy = multiSpyMissionItem->getSpyByIndex(isCurrentItemChangedIndex);
+    QList<QVariant> signalArgs = spy->takeFirst();
+    QCOMPARE(signalArgs.count(), 1);
+    QCOMPARE(signalArgs[0].toBool(), false);
+
+    multiSpyMissionItem->clearAllSignals();
+
+    // Validate sequenceNumberChanged signalling
+    missionItem.setSequenceNumber(1);
+    QVERIFY(multiSpyMissionItem->checkNoSignals());
+    missionItem.setSequenceNumber(2);
+    QVERIFY(multiSpyMissionItem->checkOnlySignalByMask(sequenceNumberChangedIndexMask));
+    spy = multiSpyMissionItem->getSpyByIndex(sequenceNumberChangedIndex);
+    signalArgs = spy->takeFirst();
+    QCOMPARE(signalArgs.count(), 1);
+    QCOMPARE(signalArgs[0].toInt(), 2);
 }
 
-void MissionItemTest::_test(void)
+// Test signalling associated with contained facts
+void MissionItemTest::_testFactSignals(void)
 {
+    MissionItem missionItem(1,                                  // sequenceNumber
+                            MAV_CMD_NAV_WAYPOINT,               // command
+                            MAV_FRAME_GLOBAL_RELATIVE_ALT,      // MAV_FRAME
+                            1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0,  // params
+                            true,                               // autoContinue
+                            true);                              // isCurrentItem
+
+
+    // command
+    QSignalSpy commandSpy(&missionItem._commandFact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setCommand(MAV_CMD_NAV_WAYPOINT);
+    QCOMPARE(commandSpy.count(), 0);
+    missionItem.setCommand(MAV_CMD_NAV_ALTITUDE_WAIT);
+    QCOMPARE(commandSpy.count(), 1);
+    QList<QVariant> arguments = commandSpy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE((MAV_CMD)arguments.at(0).toInt(), MAV_CMD_NAV_ALTITUDE_WAIT);
+
+    // frame
+    QSignalSpy frameSpy(&missionItem._frameFact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    QCOMPARE(frameSpy.count(), 0);
+    missionItem.setFrame(MAV_FRAME_BODY_NED);
+    QCOMPARE(frameSpy.count(), 1);
+    arguments = frameSpy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE((MAV_FRAME)arguments.at(0).toInt(), MAV_FRAME_BODY_NED);
+
+    // param1
+    QSignalSpy param1Spy(&missionItem._param1Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam1(1.0);
+    QCOMPARE(param1Spy.count(), 0);
+    missionItem.setParam1(2.0);
+    QCOMPARE(param1Spy.count(), 1);
+    arguments = param1Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 2.0);
+
+    // param2
+    QSignalSpy param2Spy(&missionItem._param2Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam2(2.0);
+    QCOMPARE(param2Spy.count(), 0);
+    missionItem.setParam2(3.0);
+    QCOMPARE(param2Spy.count(), 1);
+    arguments = param2Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 3.0);
+
+    // param3
+    QSignalSpy param3Spy(&missionItem._param3Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam3(3.0);
+    QCOMPARE(param3Spy.count(), 0);
+    missionItem.setParam3(4.0);
+    QCOMPARE(param3Spy.count(), 1);
+    arguments = param3Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 4.0);
+
+    // param4
+    QSignalSpy param4Spy(&missionItem._param4Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam4(4.0);
+    QCOMPARE(param4Spy.count(), 0);
+    missionItem.setParam4(5.0);
+    QCOMPARE(param4Spy.count(), 1);
+    arguments = param4Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 5.0);
+
+    // param6
+    QSignalSpy param6Spy(&missionItem._param6Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam6(6.0);
+    QCOMPARE(param6Spy.count(), 0);
+    missionItem.setParam6(7.0);
+    QCOMPARE(param6Spy.count(), 1);
+    arguments = param6Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 7.0);
+
+    // param7
+    QSignalSpy param7Spy(&missionItem._param7Fact, SIGNAL(valueChanged(QVariant)));
+    missionItem.setParam7(7.0);
+    QCOMPARE(param7Spy.count(), 0);
+    missionItem.setParam7(8.0);
+    QCOMPARE(param7Spy.count(), 1);
+    arguments = param7Spy.takeFirst();
+    QCOMPARE(arguments.count(), 1);
+    QCOMPARE(arguments.at(0).toDouble(), 8.0);
+}
+
+void MissionItemTest::_testLoadFromStream(void)
+{
+    MissionItem missionItem;
+
+    QString testString("10\t1\t3\t80\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n");
+    QTextStream testStream(&testString, QIODevice::ReadOnly);
+
+    QVERIFY(missionItem.load(testStream));
+    QCOMPARE(missionItem.sequenceNumber(), 10);
+    QCOMPARE(missionItem.isCurrentItem(), true);
+    QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
+    QCOMPARE(missionItem.command(), (MAV_CMD)80);
+    QCOMPARE(missionItem.param1(), 10.0);
+    QCOMPARE(missionItem.param2(), 20.0);
+    QCOMPARE(missionItem.param3(), 30.0);
+    QCOMPARE(missionItem.param4(), 40.0);
+    QCOMPARE(missionItem.param5(), -10.0);
+    QCOMPARE(missionItem.param6(), -20.0);
+    QCOMPARE(missionItem.param7(), -30.0);
+    QCOMPARE(missionItem.autoContinue(), true);
+}
+
+void MissionItemTest::_testLoadFromJson(void)
+{
+    MissionItem missionItem;
+    QString     errorString;
+    QJsonArray  coordinateArray = { -10.0, -20.0, -30.0 };
+    QJsonObject jsonObject
+    {
+        { "autoContinue",   true },
+        { "command",        80 },
+        { "frame",          3 },
+        { "id",             10 },
+        { "param1",         10 },
+        { "param2",         20 },
+        { "param3",         30 },
+        { "param4",         40 },
+        { "type",           "missionItem" },
+        { "coordinate",     coordinateArray },
+    };
+
+    // Test missing key detection
+
+    QStringList removeKeys;
+    removeKeys << "autoContinue" << "command" << "frame" << "id" << "param1" << "param2" << "param3" << "param4" << "type" << "coordinate";
+    foreach(const QString& removeKey, removeKeys) {
+        QJsonObject badObject = jsonObject;
+        badObject.remove(removeKey);
+        QCOMPARE(missionItem.load(badObject, errorString), false);
+        QVERIFY(!errorString.isEmpty());
+        qDebug() << errorString;
+    }
+
+    // Test bad coordinate variations
+
+    QJsonObject badObject = jsonObject;
+    badObject.remove("coordinate");
+    badObject["coordinate"] = 10;
+    QCOMPARE(missionItem.load(badObject, errorString), false);
+    QVERIFY(!errorString.isEmpty());
+    qDebug() << errorString;
+
+    QJsonArray  badCoordinateArray = { -10.0, -20.0 };
+    badObject = jsonObject;
+    badObject.remove("coordinate");
+    badObject["coordinate"] = badCoordinateArray;
+    QCOMPARE(missionItem.load(badObject, errorString), false);
+    QVERIFY(!errorString.isEmpty());
+    qDebug() << errorString;
+
+    badCoordinateArray = { -10.0, -20.0, true };
+    badObject = jsonObject;
+    badObject.remove("coordinate");
+    badObject["coordinate"] = badCoordinateArray;
+    QCOMPARE(missionItem.load(badObject, errorString), false);
+    QVERIFY(!errorString.isEmpty());
+    qDebug() << errorString;
+
+    QJsonArray  badCoordinateArray2 = { 1, 2 };
+    badCoordinateArray = { -10.0, -20.0, badCoordinateArray2 };
+    badObject = jsonObject;
+    badObject.remove("coordinate");
+    badObject["coordinate"] = badCoordinateArray;
+    QCOMPARE(missionItem.load(badObject, errorString), false);
+    QVERIFY(!errorString.isEmpty());
+    qDebug() << errorString;
+
+    // Test bad type
+
+    badObject = jsonObject;
+    badObject.remove("type");
+    badObject["type"] = "foo";
+    QCOMPARE(missionItem.load(badObject, errorString), false);
+    QVERIFY(!errorString.isEmpty());
+    qDebug() << errorString;
+
+    // Test good load
+
+    QVERIFY(missionItem.load(jsonObject, errorString));
+    QCOMPARE(missionItem.sequenceNumber(), 10);
+    QCOMPARE(missionItem.isCurrentItem(), false);
+    QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
+    QCOMPARE(missionItem.command(), (MAV_CMD)80);
+    QCOMPARE(missionItem.param1(), 10.0);
+    QCOMPARE(missionItem.param2(), 20.0);
+    QCOMPARE(missionItem.param3(), 30.0);
+    QCOMPARE(missionItem.param4(), 40.0);
+    QCOMPARE(missionItem.param5(), -10.0);
+    QCOMPARE(missionItem.param6(), -20.0);
+    QCOMPARE(missionItem.param7(), -30.0);
+    QCOMPARE(missionItem.autoContinue(), true);
+}
+
+void MissionItemTest::_testSaveToJson(void)
+{
+    MissionItem missionItem;
+
+    missionItem.setSequenceNumber(10);
+    missionItem.setIsCurrentItem(true);
+    missionItem.setFrame((MAV_FRAME)3);
+    missionItem.setCommand((MAV_CMD)80);
+    missionItem.setParam1(10.1234567);
+    missionItem.setParam2(20.1234567);
+    missionItem.setParam3(30.1234567);
+    missionItem.setParam4(40.1234567);
+    missionItem.setParam5(-10.1234567);
+    missionItem.setParam6(-20.1234567);
+    missionItem.setParam7(-30.1234567);
+    missionItem.setAutoContinue(true);
+
+    // Round trip item
+    QJsonObject jsonObject;
+    QString errorString;
+    missionItem.save(jsonObject);
+    QVERIFY(missionItem.load(jsonObject, errorString));
+
+    QCOMPARE(missionItem.sequenceNumber(), 10);
+    QCOMPARE(missionItem.isCurrentItem(), false);
+    QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
+    QCOMPARE(missionItem.command(), (MAV_CMD)80);
+    QCOMPARE(missionItem.param1(), 10.1234567);
+    QCOMPARE(missionItem.param2(), 20.1234567);
+    QCOMPARE(missionItem.param3(), 30.1234567);
+    QCOMPARE(missionItem.param4(), 40.1234567);
+    QCOMPARE(missionItem.param5(), -10.1234567);
+    QCOMPARE(missionItem.param6(), -20.1234567);
+    QCOMPARE(missionItem.param7(), -30.1234567);
+    QCOMPARE(missionItem.autoContinue(), true);
+}
+
 #if 0
-    // FIXME: Update to json
+void MissionItemTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t failureMode)
+{
+    _mockLink->setMissionItemFailureMode(failureMode);
+    
+    // Setup our test case data
+    QList<MissionItem*> missionItems;
+    
+    // Editor has a home position item on the front, so we do the same
+    MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
+    homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
+    homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
+    homeItem->setSequenceNumber(0);
+    missionItems.append(homeItem);
+
+    for (size_t i=0; i<_cTestCases; i++) {
+        const TestCase_t* testCase = &_rgTestCases[i];
+        
+        MissionItem* missionItem = new MissionItem(this);
+        
+        QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
+        QVERIFY(missionItem->load(loadStream));
 
-    for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
-        const ItemInfo_t* info = &_rgItemInfo[i];
-        const ItemExpected_t* expected = &_rgItemExpected[i];
+        // Mission Manager expects to get 1-base sequence numbers for write
+        missionItem->setSequenceNumber(missionItem->sequenceNumber() + 1);
         
-        qDebug() << "Command:" << info->command;
+        missionItems.append(missionItem);
+    }
+    
+    // Send the items to the vehicle
+    _missionManager->writeMissionItems(missionItems);
+    
+    // writeMissionItems should emit these signals before returning:
+    //      inProgressChanged
+    //      newMissionItemsAvailable
+    QVERIFY(_missionManager->inProgress());
+    QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | newMissionItemsAvailableSignalMask), true);
+    _checkInProgressValues(true);
+    
+    _multiSpyMissionManager->clearAllSignals();
+    
+    if (failureMode == MockLinkMissionItemHandler::FailNone) {
+        // This should be clean run
         
-        MissionItem* item = new MissionItem(NULL,           // Vehicle
-                                            1,
-                                            info->command,
-                                            info->frame,
-                                            10.1234567,
-                                            20.1234567,
-                                            30.1234567,
-                                            40.1234567,
-                                            50.1234567,
-                                            60.1234567,
-                                            70.1234567,
-                                            true,
-                                            false);
-
-        // Validate the saving is working correctly
-
-        QString savedItemString;
-        QTextStream saveStream(&savedItemString, QIODevice::WriteOnly);
-        item->save(saveStream);
-
-        // Param floats to string with 18 digits or precision
-        QString paramStrings = "10.1234567000000002\t"
-                                "20.1234566999999984\t"
-                                "30.1234566999999984\t"
-                                "40.1234566999999984\t"
-                                "50.1234566999999984\t"
-                                "60.1234566999999984\t"
-                                "70.1234567000000055";
-        QString expectedItemString = QString("1\t0\t%1\t%2\t%3\t1\r\n").arg(info->frame).arg(info->command).arg(paramStrings);
-        QCOMPARE(savedItemString, expectedItemString);
+        // Wait for write sequence to complete. We should get:
+        //      inProgressChanged(false) signal
+        _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
+        QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true);
         
-        // Validate that the fact values are correctly returned
-        size_t factCount = 0;
-        for (int i=0; i<item->textFieldFacts()->count(); i++) {
-            Fact* fact = qobject_cast<Fact*>(item->textFieldFacts()->get(i));
-            
-            bool found = false;
-            for (size_t j=0; j<expected->cFactValues; j++) {
-                const FactValue_t* factValue = &expected->rgFactValues[j];
-                
-                if (factValue->name == fact->name()) {
-                    QCOMPARE(fact->rawValue().toDouble(), factValue->value);
-                    factCount ++;
-                    found = true;
-                    break;
-                }
-            }
-            
-            if (!found) {
-                qDebug() << fact->name();
-            }
-            QVERIFY(found);
+        // Validate inProgressChanged signal value
+        _checkInProgressValues(false);
+
+        // Validate item count in mission manager
+
+        int expectedCount = (int)_cTestCases;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Home position at position 0 comes from vehicle
+            expectedCount++;
         }
-        QCOMPARE(factCount, expected->cFactValues);
+
+        QCOMPARE(_missionManager->missionItems().count(), expectedCount);
+    } else {
+        // This should be a failed run
         
-        // Validate that loading is working correctly
-        MissionItem* loadedItem = new MissionItem(NULL /* Vehicle */);
-        QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
-        QVERIFY(loadedItem->load(loadStream));
-        QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
-        QCOMPARE(loadedItem->coordinate().longitude(), item->coordinate().longitude());
-        QCOMPARE(loadedItem->coordinate().altitude(), item->coordinate().altitude());
-        QCOMPARE(loadedItem->command(), item->command());
-        QCOMPARE(loadedItem->param1(), item->param1());
-        QCOMPARE(loadedItem->param2(), item->param2());
-        QCOMPARE(loadedItem->param3(), item->param3());
-        QCOMPARE(loadedItem->param4(), item->param4());
-        QCOMPARE(loadedItem->autoContinue(), item->autoContinue());
-        QCOMPARE(loadedItem->isCurrentItem(), item->isCurrentItem());
-        QCOMPARE(loadedItem->frame(), item->frame());
-
-        delete item;
-        delete loadedItem;
+        setExpectedMessageBox(QMessageBox::Ok);
+
+        // Wait for write sequence to complete. We should get:
+        //      inProgressChanged(false) signal
+        //      error(errorCode, QString) signal
+        _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
+        QCOMPARE(_multiSpyMissionManager->checkSignalByMask(inProgressChangedSignalMask | errorSignalMask), true);
+        
+        // Validate inProgressChanged signal value
+        _checkInProgressValues(false);
+        
+        // Validate error signal values
+        QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex);
+        QList<QVariant> signalArgs = spy->takeFirst();
+        QCOMPARE(signalArgs.count(), 2);
+        qDebug() << signalArgs[1].toString();
+
+        checkExpectedMessageBox();
     }
-#endif
+    
+    _multiSpyMissionManager->clearAllSignals();
 }
 
-void MissionItemTest::_testDefaultValues(void)
+void MissionItemTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode_t failureMode)
 {
-    SimpleMissionItem item(NULL /* Vehicle */);
+    _writeItems(MockLinkMissionItemHandler::FailNone);
+    
+    _mockLink->setMissionItemFailureMode(failureMode);
+
+    // Read the items back from the vehicle
+    _missionManager->requestMissionItems();
+    
+    // requestMissionItems should emit inProgressChanged signal before returning so no need to wait for it
+    QVERIFY(_missionManager->inProgress());
+    QCOMPARE(_multiSpyMissionManager->checkOnlySignalByMask(inProgressChangedSignalMask), true);
+    _checkInProgressValues(true);
+    
+    _multiSpyMissionManager->clearAllSignals();
+    
+    if (failureMode == MockLinkMissionItemHandler::FailNone) {
+        // This should be clean run
+        
+        // Now wait for read sequence to complete. We should get:
+        //      inProgressChanged(false) signal to signal completion
+        //      newMissionItemsAvailable signal
+        _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
+        QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true);
+        _checkInProgressValues(false);
+
+    } else {
+        // This should be a failed run
+        
+        setExpectedMessageBox(QMessageBox::Ok);
+
+        // Wait for read sequence to complete. We should get:
+        //      inProgressChanged(false) signal to signal completion
+        //      error(errorCode, QString) signal
+        //      newMissionItemsAvailable signal
+        _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime);
+        QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask | errorSignalMask), true);
+        
+        // Validate inProgressChanged signal value
+        _checkInProgressValues(false);
+        
+        // Validate error signal values
+        QSignalSpy* spy = _multiSpyMissionManager->getSpyByIndex(errorSignalIndex);
+        QList<QVariant> signalArgs = spy->takeFirst();
+        QCOMPARE(signalArgs.count(), 2);
+        qDebug() << signalArgs[1].toString();
+        
+        checkExpectedMessageBox();
+    }
+    
+    _multiSpyMissionManager->clearAllSignals();
+
+    // Validate returned items
+    
+    size_t cMissionItemsExpected;
+    
+    if (failureMode == MockLinkMissionItemHandler::FailNone) {
+        cMissionItemsExpected = (int)_cTestCases;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Home position at position 0 comes from vehicle
+            cMissionItemsExpected++;
+        }
+    } else {
+        cMissionItemsExpected = 0;
+    }
+    
+    QCOMPARE(_missionManager->missionItems().count(), (int)cMissionItemsExpected);
+
+    size_t firstActualItem = 0;
+    if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+        // First item is home position, don't validate it
+        firstActualItem++;
+    }
 
-    item.setCommand(MAV_CMD_NAV_WAYPOINT);
-    item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    QCOMPARE(item.param7(), MissionItem::defaultAltitude);
+    int testCaseIndex = 0;
+    for (size_t actualItemIndex=firstActualItem; actualItemIndex<cMissionItemsExpected; actualItemIndex++) {
+        const TestCase_t* testCase = &_rgTestCases[testCaseIndex];
+
+        int expectedSequenceNumber = testCase->expectedItem.sequenceNumber;
+        if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            // Account for home position in first item
+            expectedSequenceNumber++;
+        }
+
+        MissionItem* actual = _missionManager->missionItems()[actualItemIndex];
+        
+        qDebug() << "Test case" << testCaseIndex;
+        QCOMPARE(actual->sequenceNumber(),          expectedSequenceNumber);
+        QCOMPARE(actual->coordinate().latitude(),   testCase->expectedItem.coordinate.latitude());
+        QCOMPARE(actual->coordinate().longitude(),  testCase->expectedItem.coordinate.longitude());
+        QCOMPARE(actual->coordinate().altitude(),   testCase->expectedItem.coordinate.altitude());
+        QCOMPARE((int)actual->command(),       (int)testCase->expectedItem.command);
+        QCOMPARE(actual->param1(),                  testCase->expectedItem.param1);
+        QCOMPARE(actual->param2(),                  testCase->expectedItem.param2);
+        QCOMPARE(actual->param3(),                  testCase->expectedItem.param3);
+        QCOMPARE(actual->param4(),                  testCase->expectedItem.param4);
+        QCOMPARE(actual->autoContinue(),            testCase->expectedItem.autocontinue);
+        QCOMPARE(actual->frame(),                   testCase->expectedItem.frame);
+
+        testCaseIndex++;
+    }
+    
 }
+
+void MissionItemTest::_testWriteFailureHandlingWorker(void)
+{
+    /*
+    /// Called to send a MISSION_ACK message while the MissionManager is in idle state
+    void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
+    
+    /// Called to send a MISSION_ITEM message while the MissionManager is in idle state
+    void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
+    
+    /// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
+    void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
+    */
+    
+    typedef struct {
+        const char*                                 failureText;
+        MockLinkMissionItemHandler::FailureMode_t   failureMode;
+    } TestCase_t;
+    
+    static const TestCase_t rgTestCases[] = {
+        { "No Failure",                         MockLinkMissionItemHandler::FailNone },
+        { "FailWriteRequest0NoResponse",        MockLinkMissionItemHandler::FailWriteRequest0NoResponse },
+        { "FailWriteRequest1NoResponse",        MockLinkMissionItemHandler::FailWriteRequest1NoResponse },
+        { "FailWriteRequest0IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest0IncorrectSequence },
+        { "FailWriteRequest1IncorrectSequence", MockLinkMissionItemHandler::FailWriteRequest1IncorrectSequence },
+        { "FailWriteRequest0ErrorAck",          MockLinkMissionItemHandler::FailWriteRequest0ErrorAck },
+        { "FailWriteRequest1ErrorAck",          MockLinkMissionItemHandler::FailWriteRequest1ErrorAck },
+        { "FailWriteFinalAckNoResponse",        MockLinkMissionItemHandler::FailWriteFinalAckNoResponse },
+        { "FailWriteFinalAckErrorAck",          MockLinkMissionItemHandler::FailWriteFinalAckErrorAck },
+        { "FailWriteFinalAckMissingRequests",   MockLinkMissionItemHandler::FailWriteFinalAckMissingRequests },
+    };
+
+    for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+        qDebug() << "TEST CASE " << rgTestCases[i].failureText;
+        _writeItems(rgTestCases[i].failureMode);
+        _mockLink->resetMissionItemHandler();
+    }
+}
+
+void MissionItemTest::_testReadFailureHandlingWorker(void)
+{
+    /*
+     /// Called to send a MISSION_ACK message while the MissionManager is in idle state
+     void sendUnexpectedMissionAck(MAV_MISSION_RESULT ackType) { _missionItemHandler.sendUnexpectedMissionAck(ackType); }
+     
+     /// Called to send a MISSION_ITEM message while the MissionManager is in idle state
+     void sendUnexpectedMissionItem(void) { _missionItemHandler.sendUnexpectedMissionItem(); }
+     
+     /// Called to send a MISSION_REQUEST message while the MissionManager is in idle state
+     void sendUnexpectedMissionRequest(void) { _missionItemHandler.sendUnexpectedMissionRequest(); }
+     */
+    
+    typedef struct {
+        const char*                                 failureText;
+        MockLinkMissionItemHandler::FailureMode_t   failureMode;
+    } TestCase_t;
+    
+    static const TestCase_t rgTestCases[] = {
+        { "No Failure",                         MockLinkMissionItemHandler::FailNone },
+        { "FailReadRequestListNoResponse",      MockLinkMissionItemHandler::FailReadRequestListNoResponse },
+        { "FailReadRequest0NoResponse",         MockLinkMissionItemHandler::FailReadRequest0NoResponse },
+        { "FailReadRequest1NoResponse",         MockLinkMissionItemHandler::FailReadRequest1NoResponse },
+        { "FailReadRequest0IncorrectSequence",  MockLinkMissionItemHandler::FailReadRequest0IncorrectSequence },
+        { "FailReadRequest1IncorrectSequence",  MockLinkMissionItemHandler::FailReadRequest1IncorrectSequence  },
+        { "FailReadRequest0ErrorAck",           MockLinkMissionItemHandler::FailReadRequest0ErrorAck },
+        { "FailReadRequest1ErrorAck",           MockLinkMissionItemHandler::FailReadRequest1ErrorAck },
+    };
+    
+    for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
+        qDebug() << "TEST CASE " << rgTestCases[i].failureText;
+        _roundTripItems(rgTestCases[i].failureMode);
+        _mockLink->resetMissionItemHandler();
+        _multiSpyMissionManager->clearAllSignals();
+    }
+}
+
+void MissionItemTest::_testWriteFailureHandlingAPM(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _testWriteFailureHandlingWorker();
+}
+
+void MissionItemTest::_testReadFailureHandlingAPM(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _testReadFailureHandlingWorker();
+}
+
+
+void MissionItemTest::_testWriteFailureHandlingPX4(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    _testWriteFailureHandlingWorker();
+}
+
+void MissionItemTest::_testReadFailureHandlingPX4(void)
+{
+    _initForFirmwareType(MAV_AUTOPILOT_PX4);
+    _testReadFailureHandlingWorker();
+}
+#endif

src/MissionManager/MissionItemTest.h

@@ -25,16 +25,9 @@
 #define MissionItemTest_H
 
 #include "UnitTest.h"
-#include "TCPLink.h"
 #include "MultiSignalSpy.h"
 
-#include <QGeoCoordinate>
-
-/// @file
-///     @brief FlightGear HIL Simulation unit tests
-///
-///     @author Don Gagne <don@thegagnes.com>
-
+/// Unit test for the MissionItem Object
 class MissionItemTest : public UnitTest
 {
     Q_OBJECT
@@ -43,36 +36,12 @@ public:
     MissionItemTest(void);
     
 private slots:
-    void _test(void);
-    void _testDefaultValues(void);
-    
-private:
-
-    typedef struct {
-        MAV_CMD        command;
-        MAV_FRAME      frame;
-    } ItemInfo_t;
-    
-    typedef struct {
-        const char* name;
-        double      value;
-    } FactValue_t;
-    
-    typedef struct {
-        size_t              cFactValues;
-        const FactValue_t*  rgFactValues;
-    } ItemExpected_t;
-
-    static const ItemInfo_t     _rgItemInfo[];
-    static const ItemExpected_t _rgItemExpected[];
-    static const FactValue_t    _rgFactValuesWaypoint[];
-    static const FactValue_t    _rgFactValuesLoiterUnlim[];
-    static const FactValue_t    _rgFactValuesLoiterTurns[];
-    static const FactValue_t    _rgFactValuesLoiterTime[];
-    static const FactValue_t    _rgFactValuesLand[];
-    static const FactValue_t    _rgFactValuesTakeoff[];
-    static const FactValue_t    _rgFactValuesConditionDelay[];
-    static const FactValue_t    _rgFactValuesDoJump[];
+    void _testSetGet(void);
+    void _testSignals(void);
+    void _testFactSignals(void);
+    void _testLoadFromStream(void);
+    void _testLoadFromJson(void);
+    void _testSaveToJson(void);
 };
 
 #endif

src/MissionManager/MissionManager.cc

@@ -29,7 +29,6 @@
 #include "FirmwarePlugin.h"
 #include "MAVLinkProtocol.h"
 #include "QGCApplication.h"
-#include "SimpleMissionItem.h"
 
 QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
 
@@ -56,7 +55,7 @@ MissionManager::~MissionManager()
 
 }
 
-void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
+void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
 {
     bool skipFirstItem = !_vehicle->firmwarePlugin()->sendHomePositionToVehicle();
 
@@ -65,14 +64,15 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
     int firstIndex = skipFirstItem ? 1 : 0;
     
     for (int i=firstIndex; i<missionItems.count(); i++) {
-        _missionItems.append(new SimpleMissionItem(*qobject_cast<const SimpleMissionItem*>(missionItems[i])));
+        MissionItem* item = new MissionItem(*missionItems[i]);
+        _missionItems.append(item);
 
-        MissionItem* item = qobject_cast<MissionItem*>(_missionItems.get(_missionItems.count() - 1));
+        item->setIsCurrentItem(i == firstIndex);
 
         if (skipFirstItem) {
-            // Home is in sequence 1, remainder of items start at sequence 1
+            // Home is in sequence 0, remainder of items start at sequence 1
             item->setSequenceNumber(item->sequenceNumber() - 1);
-            if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
+            if (item->command() == MAV_CMD_DO_JUMP) {
                 item->setParam1((int)item->param1() - 1);
             }
         }
@@ -253,8 +253,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
         _requestItemRetryCount = 0;
         _itemIndicesToRead.removeOne(missionItem.seq);
 
-        MissionItem* item = new SimpleMissionItem(_vehicle,
-                                            missionItem.seq,
+        MissionItem* item = new MissionItem(missionItem.seq,
                                             (MAV_CMD)missionItem.command,
                                             (MAV_FRAME)missionItem.frame,
                                             missionItem.param1,
@@ -268,7 +267,7 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
                                             missionItem.current,
                                             this);
 
-        if (item->command() == MavlinkQmlSingleton::MAV_CMD_DO_JUMP) {
+        if (item->command() == MAV_CMD_DO_JUMP) {
             // Home is in position 0
             item->setParam1((int)item->param1() + 1);
         }
@@ -323,19 +322,19 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
     mavlink_message_t       messageOut;
     mavlink_mission_item_t  missionItem;
     
-    MissionItem* item = (MissionItem*)_missionItems[missionRequest.seq];
+    MissionItem* item = _missionItems[missionRequest.seq];
     
     missionItem.target_system =     _vehicle->id();
     missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
     missionItem.seq =               missionRequest.seq;
     missionItem.command =           item->command();
-    missionItem.x =                 item->coordinate().latitude();
-    missionItem.y =                 item->coordinate().longitude();
-    missionItem.z =                 item->coordinate().altitude();
     missionItem.param1 =            item->param1();
     missionItem.param2 =            item->param2();
     missionItem.param3 =            item->param3();
     missionItem.param4 =            item->param4();
+    missionItem.x =                 item->param5();
+    missionItem.y =                 item->param6();
+    missionItem.z =                 item->param7();
     missionItem.frame =             item->frame();
     missionItem.current =           missionRequest.seq == 0;
     missionItem.autocontinue =      item->autoContinue();
@@ -428,17 +427,6 @@ void MissionManager::_mavlinkMessageReceived(const mavlink_message_t& message)
     }
 }
 
-QmlObjectListModel* MissionManager::copyMissionItems(void)
-{
-    QmlObjectListModel* list = new QmlObjectListModel();
-    
-    for (int i=0; i<_missionItems.count(); i++) {
-        list->append(new SimpleMissionItem(*qobject_cast<const SimpleMissionItem*>(_missionItems[i])));
-    }
-    
-    return list;
-}
-
 void MissionManager::_sendError(ErrorCode_t errorCode, const QString& errorMsg)
 {
     qCDebug(MissionManagerLog) << "Sending error" << errorCode << errorMsg;

src/MissionManager/MissionManager.h

@@ -30,7 +30,7 @@
 #include <QMutex>
 #include <QTimer>
 
-#include "QmlObjectListModel.h"
+#include "MissionItem.h"
 #include "QGCMAVLink.h"
 #include "QGCLoggingCategory.h"
 #include "LinkInterface.h"
@@ -48,27 +48,15 @@ public:
     MissionManager(Vehicle* vehicle);
     ~MissionManager();
     
-    Q_PROPERTY(bool                 inProgress      READ inProgress     NOTIFY inProgressChanged)
-    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems   CONSTANT)
-    Q_PROPERTY(int                  currentItem     READ currentItem    NOTIFY currentItemChanged)
-    
-    // Property accessors
-    
     bool inProgress(void);
-    QmlObjectListModel* missionItems(void) { return &_missionItems; }
+    const QList<MissionItem*>& missionItems(void) { return _missionItems; }
     int currentItem(void) { return _currentMissionItem; }
     
-    // C++ methods
-    
     void requestMissionItems(void);
     
     /// Writes the specified set of mission items to the vehicle
-    ///     @oaram missionItems Items to send to vehicle
-    void writeMissionItems(const QmlObjectListModel& missionItems);
-    
-    /// Returns a copy of the current set of mission items. Caller is responsible for
-    /// freeing returned object.
-    QmlObjectListModel* copyMissionItems(void);
+    ///     @param missionItems Items to send to vehicle
+    void writeMissionItems(const QList<MissionItem*>& missionItems);
     
     /// Error codes returned in error signal
     typedef enum {
@@ -134,7 +122,7 @@ private:
     
     QMutex _dataMutex;
     
-    QmlObjectListModel  _missionItems;
+    QList<MissionItem*> _missionItems;
     int                 _currentMissionItem;
 };
 

src/MissionManager/MissionManagerTest.cc

@@ -24,7 +24,6 @@
 #include "MissionManagerTest.h"
 #include "LinkManager.h"
 #include "MultiVehicleManager.h"
-#include "SimpleMissionItem.h"
 
 const MissionManagerTest::TestCase_t MissionManagerTest::_rgTestCases[] = {
     { "0\t0\t3\t16\t10\t20\t30\t40\t-10\t-20\t-30\t1\r\n",  { 0, QGeoCoordinate(-10.0, -20.0, -30.0), MAV_CMD_NAV_WAYPOINT,     10.0, 20.0, 30.0, 40.0, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT } },
@@ -46,32 +45,31 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     _mockLink->setMissionItemFailureMode(failureMode);
     
     // Setup our test case data
-    QmlObjectListModel* list = new QmlObjectListModel();
+    QList<MissionItem*> missionItems;
     
     // Editor has a home position item on the front, so we do the same
-    SimpleMissionItem* homeItem = new SimpleMissionItem(NULL /* Vehicle */, this);
-    homeItem->setHomePositionSpecialCase(true);
-    homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
+    homeItem->setCommand(MAV_CMD_NAV_WAYPOINT);
     homeItem->setCoordinate(QGeoCoordinate(47.3769, 8.549444, 0));
     homeItem->setSequenceNumber(0);
-    list->insert(0, homeItem);
+    missionItems.append(homeItem);
 
     for (size_t i=0; i<_cTestCases; i++) {
         const TestCase_t* testCase = &_rgTestCases[i];
         
-        SimpleMissionItem* item = new SimpleMissionItem(NULL /* Vehicle */, list);
+        MissionItem* missionItem = new MissionItem(this);
         
         QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
-        QVERIFY(item->load(loadStream));
+        QVERIFY(missionItem->load(loadStream));
 
         // Mission Manager expects to get 1-base sequence numbers for write
-        item->setSequenceNumber(item->sequenceNumber() + 1);
+        missionItem->setSequenceNumber(missionItem->sequenceNumber() + 1);
         
-        list->append(item);
+        missionItems.append(missionItem);
     }
     
     // Send the items to the vehicle
-    _missionManager->writeMissionItems(*list);
+    _missionManager->writeMissionItems(missionItems);
     
     // writeMissionItems should emit these signals before returning:
     //      inProgressChanged
@@ -101,7 +99,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
             expectedCount++;
         }
 
-        QCOMPARE(_missionManager->missionItems()->count(), expectedCount);
+        QCOMPARE(_missionManager->missionItems().count(), expectedCount);
     } else {
         // This should be a failed run
         
@@ -125,8 +123,6 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
         checkExpectedMessageBox();
     }
     
-    delete list;
-    list = NULL;
     _multiSpyMissionManager->clearAllSignals();
 }
 
@@ -196,7 +192,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
         cMissionItemsExpected = 0;
     }
     
-    QCOMPARE(_missionManager->missionItems()->count(), (int)cMissionItemsExpected);
+    QCOMPARE(_missionManager->missionItems().count(), (int)cMissionItemsExpected);
 
     size_t firstActualItem = 0;
     if (_mockLink->getFirmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
@@ -214,7 +210,7 @@ void MissionManagerTest::_roundTripItems(MockLinkMissionItemHandler::FailureMode
             expectedSequenceNumber++;
         }
 
-        MissionItem* actual = qobject_cast<MissionItem*>(_missionManager->missionItems()->get(actualItemIndex));
+        MissionItem* actual = _missionManager->missionItems()[actualItemIndex];
         
         qDebug() << "Test case" << testCaseIndex;
         QCOMPARE(actual->sequenceNumber(),          expectedSequenceNumber);

src/MissionManager/SimpleMissionItem.cc

@@ -20,42 +20,568 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
+#include <QStringList>
+#include <QDebug>
+
 #include "SimpleMissionItem.h"
+#include "FirmwarePluginManager.h"
+#include "QGCApplication.h"
+#include "JsonHelper.h"
+
+const double SimpleMissionItem::defaultAltitude =             25.0;
+
+FactMetaData* SimpleMissionItem::_altitudeMetaData =          NULL;
+FactMetaData* SimpleMissionItem::_commandMetaData =           NULL;
+FactMetaData* SimpleMissionItem::_defaultParamMetaData =      NULL;
+FactMetaData* SimpleMissionItem::_frameMetaData =             NULL;
+FactMetaData* SimpleMissionItem::_latitudeMetaData =          NULL;
+FactMetaData* SimpleMissionItem::_longitudeMetaData =         NULL;
+
+struct EnumInfo_s {
+    const char *    label;
+    MAV_FRAME       frame;
+};
+
+static const struct EnumInfo_s _rgMavFrameInfo[] = {
+{ "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
+{ "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
+{ "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
+{ "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
+{ "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
+{ "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
+{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
+{ "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
+{ "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
+{ "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
+{ "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
+{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
+};
 
 SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
-    : MissionItem(vehicle, parent)
+    : VisualMissionItem(vehicle, parent)
+    , _rawEdit(false)
+    , _homePositionSpecialCase(false)
+    , _showHomePosition(false)
+    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
+    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
+    , _param1MetaData(FactMetaData::valueTypeDouble)
+    , _param2MetaData(FactMetaData::valueTypeDouble)
+    , _param3MetaData(FactMetaData::valueTypeDouble)
+    , _param4MetaData(FactMetaData::valueTypeDouble)
+    , _param5MetaData(FactMetaData::valueTypeDouble)
+    , _param6MetaData(FactMetaData::valueTypeDouble)
+    , _param7MetaData(FactMetaData::valueTypeDouble)
+    , _syncingAltitudeRelativeToHomeAndFrame    (false)
+    , _syncingHeadingDegreesAndParam4           (false)
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
+    _altitudeRelativeToHomeFact.setRawValue(true);
 
+    _setupMetaData();
+    _connectSignals();
+
+    setDefaultsForCommand();
 }
 
-SimpleMissionItem::SimpleMissionItem(Vehicle*       vehicle,
-                         int             sequenceNumber,
-                         MAV_CMD         command,
-                         MAV_FRAME       frame,
-                         double          param1,
-                         double          param2,
-                         double          param3,
-                         double          param4,
-                         double          param5,
-                         double          param6,
-                         double          param7,
-                         bool            autoContinue,
-                         bool            isCurrentItem,
-                         QObject*        parent)
-    : MissionItem(vehicle, sequenceNumber, command, frame, param1, param2, param3, param4, param5, param6, param7, autoContinue, isCurrentItem, parent)
+SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
+    : VisualMissionItem(vehicle, parent)
+    , _missionItem(missionItem)
+    , _rawEdit(false)
+    , _dirty(false)
+    , _homePositionSpecialCase(false)
+    , _showHomePosition(false)
+    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
+    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
+    , _param1MetaData(FactMetaData::valueTypeDouble)
+    , _param2MetaData(FactMetaData::valueTypeDouble)
+    , _param3MetaData(FactMetaData::valueTypeDouble)
+    , _param4MetaData(FactMetaData::valueTypeDouble)
+    , _param5MetaData(FactMetaData::valueTypeDouble)
+    , _param6MetaData(FactMetaData::valueTypeDouble)
+    , _param7MetaData(FactMetaData::valueTypeDouble)
+    , _syncingAltitudeRelativeToHomeAndFrame    (false)
+    , _syncingHeadingDegreesAndParam4           (false)
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
+    _altitudeRelativeToHomeFact.setRawValue(true);
+
+    _setupMetaData();
+    _connectSignals();
 
+    _syncFrameToAltitudeRelativeToHome();
 }
 
 SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
-    : MissionItem(other, parent)
+    : VisualMissionItem(other, parent)
+    , _missionItem(other._vehicle)
+    , _rawEdit(false)
+    , _dirty(false)
+    , _homePositionSpecialCase(false)
+    , _showHomePosition(false)
+    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
+    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
+    , _param1MetaData(FactMetaData::valueTypeDouble)
+    , _param2MetaData(FactMetaData::valueTypeDouble)
+    , _param3MetaData(FactMetaData::valueTypeDouble)
+    , _param4MetaData(FactMetaData::valueTypeDouble)
+    , _syncingAltitudeRelativeToHomeAndFrame    (false)
+    , _syncingHeadingDegreesAndParam4           (false)
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
+    _setupMetaData();
+    _connectSignals();
 
+    *this = other;
 }
 
 const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& other)
 {
-    static_cast<MissionItem&>(*this) = other;
+    static_cast<VisualMissionItem&>(*this) = other;
+
+    setRawEdit(other._rawEdit);
+    setDirty(other._dirty);
+    setHomePositionSpecialCase(other._homePositionSpecialCase);
+    setShowHomePosition(other._showHomePosition);
+
+    _syncFrameToAltitudeRelativeToHome();
 
     return *this;
 }
+
+void SimpleMissionItem::_connectSignals(void)
+{
+    // Connect to change signals to track dirty state
+    connect(&_missionItem._param1Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param2Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param3Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param4Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param5Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param6Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._param7Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._frameFact,   &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem._commandFact, &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
+    connect(&_missionItem,              &MissionItem::sequenceNumberChanged,    this, &SimpleMissionItem::_setDirtyFromSignal);
+
+    // Values from these facts must propogate back and forth between the real object storage
+    connect(&_altitudeRelativeToHomeFact,   &Fact::valueChanged,    this, &SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame);
+    connect(&_missionItem._frameFact,       &Fact::valueChanged,    this, &SimpleMissionItem::_syncFrameToAltitudeRelativeToHome);
+
+    // These are coordinate parameters, they must emit coordinateChanged signal
+    connect(&_missionItem._param5Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
+    connect(&_missionItem._param6Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
+    connect(&_missionItem._param7Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
+
+    // The following changes may also change friendlyEditAllowed
+    connect(&_missionItem._autoContinueFact,    &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
+    connect(&_missionItem._commandFact,         &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
+    connect(&_missionItem._frameFact,           &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
+
+    // A command change triggers a number of other changes as well.
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
+    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
+
+    // Whenever these properties change the ui model changes as well
+    connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_sendUiModelChanged);
+    connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_sendUiModelChanged);
+
+    // These fact signals must alway signal out through SimpleMissionItem signals
+    connect(&_missionItem._commandFact,     &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
+    connect(&_missionItem._frameFact,       &Fact::valueChanged, this, &SimpleMissionItem::_sendFrameChanged);
+}
+
+void SimpleMissionItem::_setupMetaData(void)
+{
+    QStringList enumStrings;
+    QVariantList enumValues;
+
+    if (!_altitudeMetaData) {
+        _altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
+        _altitudeMetaData->setRawUnits("meters");
+        _altitudeMetaData->setDecimalPlaces(2);
+
+        enumStrings.clear();
+        enumValues.clear();
+        foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
+            const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
+            enumStrings.append(mavCmdInfo->rawName());
+            enumValues.append(QVariant(mavCmdInfo->command()));
+        }
+        _commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
+        _commandMetaData->setEnumInfo(enumStrings, enumValues);
+
+        _defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
+        _defaultParamMetaData->setDecimalPlaces(7);
+
+        enumStrings.clear();
+        enumValues.clear();
+        for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
+            const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];
+
+            enumStrings.append(mavFrameInfo->label);
+            enumValues.append(QVariant(mavFrameInfo->frame));
+        }
+        _frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
+        _frameMetaData->setEnumInfo(enumStrings, enumValues);
+
+        _latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
+        _latitudeMetaData->setRawUnits("deg");
+        _latitudeMetaData->setDecimalPlaces(7);
+
+        _longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
+        _longitudeMetaData->setRawUnits("deg");
+        _longitudeMetaData->setDecimalPlaces(7);
+
+    }
+
+    _missionItem._commandFact.setMetaData(_commandMetaData);
+    _missionItem._frameFact.setMetaData(_frameMetaData);
+}
+
+SimpleMissionItem::~SimpleMissionItem()
+{    
+}
+
+bool SimpleMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
+{
+    Q_UNUSED(missionObject);
+    Q_UNUSED(errorString);
+
+    QJsonObject itemObject;
+    _missionItem.save(itemObject);
+    missionItems.append(itemObject);
+
+    return true;
+}
+
+bool SimpleMissionItem::load(QTextStream &loadStream)
+{
+    return _missionItem.load(loadStream);
+}
+
+bool SimpleMissionItem::load(const QJsonObject& json, QString& errorString)
+{
+    return _missionItem.load(json, errorString);
+}
+
+bool SimpleMissionItem::isStandaloneCoordinate(void) const
+{
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->isStandaloneCoordinate();
+    } else {
+        return false;
+    }
+}
+
+bool SimpleMissionItem::specifiesCoordinate(void) const
+{
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
+    } else {
+        return false;
+    }
+}
+
+QString SimpleMissionItem::commandDescription(void) const
+{
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
+    } else {
+        qWarning() << "Should not ask for command description on unknown command";
+        return commandName();
+    }
+}
+
+QString SimpleMissionItem::commandName(void) const
+{
+    MAV_CMD command = (MAV_CMD)this->command();
+    if (_missionCommands->contains(command)) {
+        const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
+        return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
+    } else {
+        qWarning() << "Request for command name on unknown command";
+        return QString("Unknown: %1").arg(command);
+    }
+}
+
+void SimpleMissionItem::_clearParamMetaData(void)
+{
+    _param1MetaData.setRawUnits("");
+    _param1MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
+    _param2MetaData.setRawUnits("");
+    _param2MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
+    _param3MetaData.setRawUnits("");
+    _param3MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
+    _param4MetaData.setRawUnits("");
+    _param4MetaData.setDecimalPlaces(FactMetaData::defaultDecimalPlaces);
+}
+
+QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
+{
+    QmlObjectListModel* model = new QmlObjectListModel(this);
+    
+    if (rawEdit()) {
+        _missionItem._param1Fact._setName("Param1:");
+        _missionItem._param1Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param1Fact);
+        _missionItem._param2Fact._setName("Param2:");
+        _missionItem._param2Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param2Fact);
+        _missionItem._param3Fact._setName("Param3:");
+        _missionItem._param3Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param3Fact);
+        _missionItem._param4Fact._setName("Param4:");
+        _missionItem._param4Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param4Fact);
+        _missionItem._param5Fact._setName("Lat/X:");
+        _missionItem._param5Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param5Fact);
+        _missionItem._param6Fact._setName("Lon/Y:");
+        _missionItem._param6Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param6Fact);
+        _missionItem._param7Fact._setName("Alt/Z:");
+        _missionItem._param7Fact.setMetaData(_defaultParamMetaData);
+        model->append(&_missionItem._param7Fact);
+    } else {
+        _clearParamMetaData();
+
+        MAV_CMD command;
+        if (_homePositionSpecialCase) {
+            command = MAV_CMD_NAV_LAST;
+        } else {
+            command = _missionItem.command();
+        }
+
+        Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
+        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
+
+        bool altitudeAdded = false;
+        for (int i=1; i<=7; i++) {
+            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
+
+            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
+                Fact*               paramFact =     rgParamFacts[i-1];
+                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
+                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];
+
+                paramFact->_setName(paramInfo->label());
+                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
+                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
+                paramMetaData->setRawUnits(paramInfo->units());
+                paramFact->setMetaData(paramMetaData);
+                model->append(paramFact);
+
+                if (i == 7) {
+                    altitudeAdded = true;
+                }
+            }
+        }
+
+        if (specifiesCoordinate() && !altitudeAdded) {
+            _missionItem._param7Fact._setName("Altitude:");
+            _missionItem._param7Fact.setMetaData(_altitudeMetaData);
+            model->append(&_missionItem._param7Fact);
+        }
+    }
+    
+    return model;
+}
+
+QmlObjectListModel* SimpleMissionItem::checkboxFacts(void)
+{
+    QmlObjectListModel* model = new QmlObjectListModel(this);
+    
+
+    if (rawEdit()) {
+        model->append(&_missionItem._autoContinueFact);
+    } else if (specifiesCoordinate() && !_homePositionSpecialCase) {
+        model->append(&_altitudeRelativeToHomeFact);
+    }
+
+    return model;
+}
+
+QmlObjectListModel* SimpleMissionItem::comboboxFacts(void)
+{
+    QmlObjectListModel* model = new QmlObjectListModel(this);
+
+    if (rawEdit()) {
+        model->append(&_missionItem._commandFact);
+        model->append(&_missionItem._frameFact);
+    } else {
+        Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
+        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
+
+        MAV_CMD command;
+        if (_homePositionSpecialCase) {
+            command = MAV_CMD_NAV_LAST;
+        } else {
+            command = (MAV_CMD)this->command();
+        }
+
+        for (int i=1; i<=7; i++) {
+            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
+
+            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
+                Fact*               paramFact =     rgParamFacts[i-1];
+                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
+                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];
+
+                paramFact->_setName(paramInfo->label());
+                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
+                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
+                paramMetaData->setRawUnits(paramInfo->units());
+                paramFact->setMetaData(paramMetaData);
+                model->append(paramFact);
+            }
+        }
+    }
+
+    return model;
+}
+
+bool SimpleMissionItem::friendlyEditAllowed(void) const
+{
+    if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
+        if (!_missionItem.autoContinue()) {
+            return false;
+        }
+
+        if (specifiesCoordinate()) {
+            return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
+        }
+
+        return true;
+    }
+
+    return false;
+}
+
+bool SimpleMissionItem::rawEdit(void) const
+{
+    return _rawEdit || !friendlyEditAllowed();
+}
+
+void SimpleMissionItem::setRawEdit(bool rawEdit)
+{
+    if (this->rawEdit() != rawEdit) {
+        _rawEdit = rawEdit;
+        emit rawEditChanged(this->rawEdit());
+    }
+}
+
+void SimpleMissionItem::setDirty(bool dirty)
+{
+    if (!_homePositionSpecialCase || !dirty) {
+        // Home position never affects dirty bit
+
+        _dirty = dirty;
+        // We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
+        // any value within the item changing.
+        emit dirtyChanged(_dirty);
+    }
+}
+
+void SimpleMissionItem::_setDirtyFromSignal(void)
+{
+    setDirty(true);
+}
+
+void SimpleMissionItem::_sendCoordinateChanged(void)
+{
+    emit coordinateChanged(coordinate());
+}
+
+void SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
+{
+    if (!_syncingAltitudeRelativeToHomeAndFrame) {
+        _syncingAltitudeRelativeToHomeAndFrame = true;
+        _missionItem.setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
+        _syncingAltitudeRelativeToHomeAndFrame = false;
+    }
+}
+
+void SimpleMissionItem::_syncFrameToAltitudeRelativeToHome(void)
+{
+    if (!_syncingAltitudeRelativeToHomeAndFrame) {
+        _syncingAltitudeRelativeToHomeAndFrame = true;
+        _altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
+        _syncingAltitudeRelativeToHomeAndFrame = false;
+    }
+}
+
+void SimpleMissionItem::setDefaultsForCommand(void)
+{
+    // We set these global defaults first, then if there are param defaults they will get reset
+    _missionItem.setParam7(defaultAltitude);
+
+    MAV_CMD command = (MAV_CMD)this->command();
+    if (_missionCommands->contains(command)) {
+        MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
+        foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
+            Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
+
+            rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
+        }
+    }
+
+    if (command == MAV_CMD_NAV_WAYPOINT) {
+        // We default all acceptance radius to 0. This allows flight controller to be in control of
+        // accept radius.
+        _missionItem.setParam2(0);
+    }
+
+    _missionItem.setAutoContinue(true);
+    _missionItem.setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
+    setRawEdit(false);
+}
+
+void SimpleMissionItem::_sendUiModelChanged(void)
+{
+    emit uiModelChanged();
+}
+
+void SimpleMissionItem::_sendFrameChanged(void)
+{
+    emit frameChanged(_missionItem.frame());
+}
+
+void SimpleMissionItem::_sendCommandChanged(void)
+{
+    emit commandChanged(command());
+}
+
+void SimpleMissionItem::_sendFriendlyEditAllowedChanged(void)
+{
+    emit friendlyEditAllowedChanged(friendlyEditAllowed());
+}
+
+QString SimpleMissionItem::category(void) const
+{
+    return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
+}
+
+void SimpleMissionItem::setShowHomePosition(bool showHomePosition)
+{
+    if (showHomePosition != _showHomePosition) {
+        _showHomePosition = showHomePosition;
+        emit showHomePositionChanged(_showHomePosition);
+    }
+}
+
+void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
+{
+    if ((MAV_CMD)command != _missionItem.command()) {
+        _missionItem.setCommand((MAV_CMD)command);
+    }
+}
+
+void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (_missionItem.coordinate() != coordinate) {
+        qDebug() << _missionItem.coordinate() << coordinate;
+        _missionItem.setCoordinate(coordinate);
+    }
+}

src/MissionManager/SimpleMissionItem.h

@@ -24,39 +24,151 @@
 #ifndef SimpleMissionItem_H
 #define SimpleMissionItem_H
 
+#include "VisualMissionItem.h"
 #include "MissionItem.h"
 
-class SimpleMissionItem : public MissionItem
+/// A SimpleMissionItem is used to represent a single MissionItem to the ui.
+class SimpleMissionItem : public VisualMissionItem
 {
     Q_OBJECT
     
 public:
     SimpleMissionItem(Vehicle* vehicle, QObject* parent = NULL);
-
-    SimpleMissionItem(Vehicle*        vehicle,
-                int             sequenceNumber,
-                MAV_CMD         command,
-                MAV_FRAME       frame,
-                double          param1,
-                double          param2,
-                double          param3,
-                double          param4,
-                double          param5,
-                double          param6,
-                double          param7,
-                bool            autoContinue,
-                bool            isCurrentItem,
-                QObject*        parent = NULL);
-
+    SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent = NULL);
     SimpleMissionItem(const SimpleMissionItem& other, QObject* parent = NULL);
 
+    ~SimpleMissionItem();
+
     const SimpleMissionItem& operator=(const SimpleMissionItem& other);
+    
+    Q_PROPERTY(QString          category                READ category                                           NOTIFY commandChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand            NOTIFY commandChanged)
+    Q_PROPERTY(bool             friendlyEditAllowed     READ friendlyEditAllowed                                NOTIFY friendlyEditAllowedChanged)
+    Q_PROPERTY(bool             homePosition            READ homePosition                                       CONSTANT)                           ///< true: This item is being used as a home position indicator
+    Q_PROPERTY(bool             rawEdit                 READ rawEdit                WRITE setRawEdit            NOTIFY rawEditChanged)              ///< true: raw item editing with all params
+    Q_PROPERTY(bool             relativeAltitude        READ relativeAltitude                                   NOTIFY frameChanged)
+    Q_PROPERTY(bool             showHomePosition        READ showHomePosition       WRITE setShowHomePosition   NOTIFY showHomePositionChanged)
+
+    // These properties are used to display the editing ui
+    Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
+    Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  NOTIFY uiModelChanged)
+    Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts NOTIFY uiModelChanged)
+
+    // Property accesors
+    
+    QString         category            (void) const;
+    MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_missionItem._commandFact.cookedValue().toInt(); };
+    bool            friendlyEditAllowed (void) const;
+    bool            homePosition        (void) const    { return _homePositionSpecialCase; }
+    bool            rawEdit             (void) const;
+    bool            showHomePosition    (void) const    { return _showHomePosition; }
+
+
+    QmlObjectListModel* textFieldFacts  (void);
+    QmlObjectListModel* checkboxFacts   (void);
+    QmlObjectListModel* comboboxFacts   (void);
+
+    void setRawEdit(bool rawEdit);
+    
+    void setCommandByIndex(int index);
+
+    void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command);
+
+    void setHomePositionSpecialCase(bool homePositionSpecialCase) { _homePositionSpecialCase = homePositionSpecialCase; }
+    void setShowHomePosition(bool showHomePosition);
+
+    void setAltDifference   (double altDifference);
+    void setAltPercent      (double altPercent);
+    void setAzimuth         (double azimuth);
+    void setDistance        (double distance);
+
+    bool load(QTextStream &loadStream);
+    bool load(const QJsonObject& json, QString& errorString);
+
+    bool relativeAltitude(void) { return _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
-    // Overrides from MissionItem base class
-    bool            simpleItem      (void) const final { return true; }
-    QGeoCoordinate  exitCoordinate  (void) const final { return coordinate(); }
+    static const double defaultAltitude;
+
+    MissionItem& missionItem(void) { return _missionItem; }
+
+    // Overrides from VisualMissionItem
+
+    bool            dirty                   (void) const final { return _dirty; }
+    bool            isSimpleItem            (void) const final { return true; }
+    bool            isStandaloneCoordinate  (void) const final;
+    bool            specifiesCoordinate     (void) const final;
+    QString         commandDescription      (void) const final;
+    QString         commandName             (void) const final;
+    QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
+    QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
+
+    bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
+    bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }
+    bool exitCoordinateSameAsEntry          (void) const final { return true; }
+
+    void setDirty           (bool dirty) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate);
+    bool save               (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
+
+public slots:
+    void setDefaultsForCommand(void);
+
+signals:
+    void commandChanged             (int command);
+    void coordinateChanged          (const QGeoCoordinate& coordinate);
+    void exitCoordinateChanged      (const QGeoCoordinate& exitCoordinate);
+    //void dirtyChanged               (bool dirty);
+    void frameChanged               (int frame);
+    void friendlyEditAllowedChanged (bool friendlyEditAllowed);
+    void headingDegreesChanged      (double heading);
+    void rawEditChanged             (bool rawEdit);
+    void uiModelChanged             (void);
+    void showHomePositionChanged    (bool showHomePosition);
+    
+private slots:
+    void _setDirtyFromSignal(void);
+    void _sendCommandChanged(void);
+    void _sendCoordinateChanged(void);
+    void _sendFrameChanged(void);
+    void _sendFriendlyEditAllowedChanged(void);
+    void _sendUiModelChanged(void);
+    void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
+    void _syncFrameToAltitudeRelativeToHome(void);
 
 private:
+    void _clearParamMetaData(void);
+    void _connectSignals(void);
+    void _setupMetaData(void);
+
+private:
+    MissionItem _missionItem;
+    bool        _rawEdit;
+    bool        _dirty;
+    bool        _homePositionSpecialCase;   ///< true: This item is being used as a ui home position indicator
+    bool        _showHomePosition;
+
+    Fact    _altitudeRelativeToHomeFact;
+    Fact    _supportedCommandFact;
+    
+    static FactMetaData*    _altitudeMetaData;
+    static FactMetaData*    _commandMetaData;
+    static FactMetaData*    _defaultParamMetaData;
+    static FactMetaData*    _frameMetaData;
+    static FactMetaData*    _latitudeMetaData;
+    static FactMetaData*    _longitudeMetaData;
+
+    FactMetaData    _param1MetaData;
+    FactMetaData    _param2MetaData;
+    FactMetaData    _param3MetaData;
+    FactMetaData    _param4MetaData;
+    FactMetaData    _param5MetaData;
+    FactMetaData    _param6MetaData;
+    FactMetaData    _param7MetaData;
+
+    bool _syncingAltitudeRelativeToHomeAndFrame;    ///< true: already in a sync signal, prevents signal loop
+    bool _syncingHeadingDegreesAndParam4;           ///< true: already in a sync signal, prevents signal loop
+
+    const MissionCommands*  _missionCommands;
 };
 
 #endif

src/MissionManager/SimpleMissionItemTest.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "SimpleMissionItemTest.h"
+#include "SimpleMissionItem.h"
+
+const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
+    { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LOITER_UNLIM, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LOITER_TURNS, MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LOITER_TIME,  MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_LAND,         MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_NAV_TAKEOFF,      MAV_FRAME_GLOBAL_RELATIVE_ALT },
+    { MAV_CMD_CONDITION_DELAY,  MAV_FRAME_MISSION },
+    { MAV_CMD_DO_JUMP,          MAV_FRAME_MISSION },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesWaypoint[] = {
+    { "Altitude:",      70.1234567 },
+    { "Hold:",          10.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterUnlim[] = {
+    { "Altitude:",  70.1234567 },
+    { "Radius:",    30.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTurns[] = {
+    { "Altitude:",  70.1234567 },
+    { "Radius:",    30.1234567 },
+    { "Turns:",     10.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLoiterTime[] = {
+    { "Altitude:",  70.1234567 },
+    { "Radius:",    30.1234567 },
+    { "Hold:",      10.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesLand[] = {
+    { "Altitude:",  70.1234567 },
+    { "Abort Alt:", 10.1234567 },
+    { "Heading:",   40.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesTakeoff[] = {
+    { "Pitch:",     10.1234567 },
+    { "Altitude:",  70.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesConditionDelay[] = {
+    { "Hold:", 10.1234567 },
+};
+
+const SimpleMissionItemTest::FactValue_t SimpleMissionItemTest::_rgFactValuesDoJump[] = {
+    { "Item #:",    10.1234567 },
+    { "Repeat:",    20.1234567 },
+};
+
+const SimpleMissionItemTest::ItemExpected_t SimpleMissionItemTest::_rgItemExpected[] = {
+    { sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint)/sizeof(SimpleMissionItemTest::_rgFactValuesWaypoint[0]),             SimpleMissionItemTest::_rgFactValuesWaypoint,       true },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterUnlim[0]),       SimpleMissionItemTest::_rgFactValuesLoiterUnlim,    true },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTurns[0]),       SimpleMissionItemTest::_rgFactValuesLoiterTurns,    true },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime)/sizeof(SimpleMissionItemTest::_rgFactValuesLoiterTime[0]),         SimpleMissionItemTest::_rgFactValuesLoiterTime,     true },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesLand)/sizeof(SimpleMissionItemTest::_rgFactValuesLand[0]),                     SimpleMissionItemTest::_rgFactValuesLand,           true },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff)/sizeof(SimpleMissionItemTest::_rgFactValuesTakeoff[0]),               SimpleMissionItemTest::_rgFactValuesTakeoff,        false },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay)/sizeof(SimpleMissionItemTest::_rgFactValuesConditionDelay[0]), SimpleMissionItemTest::_rgFactValuesConditionDelay, false },
+    { sizeof(SimpleMissionItemTest::_rgFactValuesDoJump)/sizeof(SimpleMissionItemTest::_rgFactValuesDoJump[0]),                 SimpleMissionItemTest::_rgFactValuesDoJump,         false },
+};
+
+SimpleMissionItemTest::SimpleMissionItemTest(void)
+{
+    
+}
+
+void SimpleMissionItemTest::_testEditorFacts(void)
+{
+    for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
+        const ItemInfo_t* info = &_rgItemInfo[i];
+        const ItemExpected_t* expected = &_rgItemExpected[i];
+        
+        qDebug() << "Command:" << info->command;
+        
+        MissionItem missionItem(1,              // sequence number
+                                info->command,
+                                info->frame,
+                                10.1234567,     // param 1-7
+                                20.1234567,
+                                30.1234567,
+                                40.1234567,
+                                50.1234567,
+                                60.1234567,
+                                70.1234567,
+                                true,           // autoContinue
+                                false);         // isCurrentItem
+        SimpleMissionItem simpleMissionItem(NULL /* Vehicle */, missionItem);
+
+        // Validate that the fact values are correctly returned
+
+        size_t factCount = 0;
+        for (int i=0; i<simpleMissionItem.textFieldFacts()->count(); i++) {
+            Fact* fact = qobject_cast<Fact*>(simpleMissionItem.textFieldFacts()->get(i));
+            
+            bool found = false;
+            for (size_t j=0; j<expected->cFactValues; j++) {
+                const FactValue_t* factValue = &expected->rgFactValues[j];
+                
+                if (factValue->name == fact->name()) {
+                    QCOMPARE(fact->rawValue().toDouble(), factValue->value);
+                    factCount ++;
+                    found = true;
+                    break;
+                }
+            }
+            
+            if (!found) {
+                qDebug() << fact->name();
+            }
+            QVERIFY(found);
+        }
+        QCOMPARE(factCount, expected->cFactValues);
+
+        int expectedCount = expected->relativeAltCheckbox ? 1 : 0;
+        QCOMPARE(simpleMissionItem.checkboxFacts()->count(), expectedCount);
+    }
+}
+
+void SimpleMissionItemTest::_testDefaultValues(void)
+{
+    SimpleMissionItem item(NULL /* Vehicle */);
+
+    item.missionItem().setCommand(MAV_CMD_NAV_WAYPOINT);
+    item.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    QCOMPARE(item.missionItem().param7(), SimpleMissionItem::defaultAltitude);
+}
+
+void SimpleMissionItemTest::_testSignals(void)
+{
+    enum {
+        commandChangedIndex = 0,
+        coordinateChangedIndex,
+        exitCoordinateChangedIndex,
+        dirtyChangedIndex,
+        frameChangedIndex,
+        friendlyEditAllowedChangedIndex,
+        headingDegreesChangedIndex,
+        rawEditChangedIndex,
+        uiModelChangedIndex,
+        showHomePositionChangedIndex,
+        maxSignalIndex
+    };
+
+    enum {
+        commandChangedMask =                1 << commandChangedIndex,
+        coordinateChangedMask =             1 << coordinateChangedIndex,
+        exitCoordinateChangedMask =         1 << exitCoordinateChangedIndex,
+        dirtyChangedMask =                  1 << dirtyChangedIndex,
+        frameChangedMask =                  1 << frameChangedIndex,
+        friendlyEditAllowedChangedMask =    1 << friendlyEditAllowedChangedIndex,
+        headingDegreesChangedMask =         1 << headingDegreesChangedIndex,
+        rawEditChangedMask =                1 << rawEditChangedIndex,
+        uiModelChangedMask =                1 << uiModelChangedIndex,
+        showHomePositionChangedMask =       1 << showHomePositionChangedIndex,
+    };
+
+    static const size_t cSimpleMissionItemSignals = maxSignalIndex;
+    const char*         rgSimpleMissionItemSignals[cSimpleMissionItemSignals];
+
+    rgSimpleMissionItemSignals[commandChangedIndex] =               SIGNAL(commandChanged(int));
+    rgSimpleMissionItemSignals[coordinateChangedIndex] =            SIGNAL(coordinateChanged(const QGeoCoordinate&));
+    rgSimpleMissionItemSignals[exitCoordinateChangedIndex] =        SIGNAL(exitCoordinateChanged(const QGeoCoordinate&));
+    rgSimpleMissionItemSignals[dirtyChangedIndex] =                 SIGNAL(dirtyChanged(bool));
+    rgSimpleMissionItemSignals[frameChangedIndex] =                 SIGNAL(frameChanged(int));
+    rgSimpleMissionItemSignals[friendlyEditAllowedChangedIndex] =   SIGNAL(friendlyEditAllowedChanged(bool));
+    rgSimpleMissionItemSignals[headingDegreesChangedIndex] =        SIGNAL(headingDegreesChanged(double));
+    rgSimpleMissionItemSignals[rawEditChangedIndex] =               SIGNAL(rawEditChanged(bool));
+    rgSimpleMissionItemSignals[uiModelChangedIndex] =               SIGNAL(uiModelChanged());
+    rgSimpleMissionItemSignals[showHomePositionChangedIndex] =      SIGNAL(showHomePositionChanged(bool));
+
+    MissionItem missionItem(1,              // sequence number
+                            MAV_CMD_NAV_WAYPOINT,
+                            MAV_FRAME_GLOBAL_RELATIVE_ALT,
+                            10.1234567,     // param 1-7
+                            20.1234567,
+                            30.1234567,
+                            40.1234567,
+                            50.1234567,
+                            60.1234567,
+                            70.1234567,
+                            true,           // autoContinue
+                            false);         // isCurrentItem
+    SimpleMissionItem simpleMissionItem(NULL /* Vehicle */, missionItem);
+
+    // It's important top check that the right signals are emitted at the right time since that drives ui change.
+    // It's also important to check that things are not being over-signalled when they should not be, since that can lead
+    // to incorrect ui or perf impact of uneeded signals propogating ui change.
+
+    MultiSignalSpy* multiSpy = new MultiSignalSpy();
+    Q_CHECK_PTR(multiSpy);
+    QCOMPARE(multiSpy->init(&simpleMissionItem, rgSimpleMissionItemSignals, cSimpleMissionItemSignals), true);
+
+    // Check commandChanged signalling. Call setCommand should trigger:
+    //      commandChanged
+    //      dirtyChanged
+    //      uiModelChanged
+    //      coordinateChanged - since altitude will be set back to default
+
+    simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LOITER_TIME);
+    QVERIFY(multiSpy->checkSignalsByMask(commandChangedMask | dirtyChangedMask | uiModelChangedMask | coordinateChangedMask));
+    multiSpy->clearAllSignals();
+
+    // Check coordinateChanged signalling. Calling setCoordinate should trigger:
+    //      coordinateChanged
+    //      dirtyChanged
+
+    // Check that changing to the same coordinate does not signal
+    simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, SimpleMissionItem::defaultAltitude));
+    QVERIFY(multiSpy->checkNoSignals());
+
+    // Check that actually changing coordinate signals correctly
+    simpleMissionItem.setCoordinate(QGeoCoordinate(50.1234567, 60.1234567, 70.1234567));
+    QVERIFY(multiSpy->checkOnlySignalByMask(coordinateChangedMask | dirtyChangedMask));
+    multiSpy->clearAllSignals();
+
+    // Check dirtyChanged signalling
+
+    // Reset param 1-5 for testing
+    simpleMissionItem.missionItem().setParam1(10.1234567);
+    simpleMissionItem.missionItem().setParam2(20.1234567);
+    simpleMissionItem.missionItem().setParam3(30.1234567);
+    simpleMissionItem.missionItem().setParam4(40.1234567);
+    multiSpy->clearAllSignals();
+
+    simpleMissionItem.missionItem().setParam1(10.1234567);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.missionItem().setParam1(20.1234567);
+    QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
+    multiSpy->clearAllSignals();
+
+    simpleMissionItem.missionItem().setParam2(20.1234567);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.missionItem().setParam2(30.1234567);
+    QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
+    multiSpy->clearAllSignals();
+
+    simpleMissionItem.missionItem().setParam3(30.1234567);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.missionItem().setParam3(40.1234567);
+    QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
+    multiSpy->clearAllSignals();
+
+    simpleMissionItem.missionItem().setParam4(40.1234567);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.missionItem().setParam4(50.1234567);
+    QVERIFY(multiSpy->checkOnlySignalByMask(dirtyChangedMask));
+    multiSpy->clearAllSignals();
+
+    // Check frameChanged signalling. Calling setFrame should signal:
+    //      frameChanged
+    //      dirtyChanged
+    //      friendlyEditAllowedChanged - this signal is not very smart on when it gets sent
+
+    simpleMissionItem.setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
+    simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    multiSpy->clearAllSignals();
+    simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    QVERIFY(multiSpy->checkNoSignals());
+    simpleMissionItem.missionItem().setFrame(MAV_FRAME_GLOBAL);
+    QVERIFY(multiSpy->checkOnlySignalByMask(frameChangedMask | dirtyChangedMask | friendlyEditAllowedChangedMask));
+    multiSpy->clearAllSignals();
+}

src/MissionManager/SimpleMissionItemTest.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef SimpleMissionItemTest_H
+#define SimpleMissionItemTest_H
+
+#include "UnitTest.h"
+#include "TCPLink.h"
+#include "MultiSignalSpy.h"
+
+#include <QGeoCoordinate>
+
+/// Unit test for SimpleMissionItem
+class SimpleMissionItemTest : public UnitTest
+{
+    Q_OBJECT
+    
+public:
+    SimpleMissionItemTest(void);
+    
+private slots:
+    void _testSignals(void);
+    void _testEditorFacts(void);
+    void _testDefaultValues(void);
+    
+private:
+
+    typedef struct {
+        MAV_CMD        command;
+        MAV_FRAME      frame;
+    } ItemInfo_t;
+    
+    typedef struct {
+        const char* name;
+        double      value;
+    } FactValue_t;
+    
+    typedef struct {
+        size_t              cFactValues;
+        const FactValue_t*  rgFactValues;
+        bool                relativeAltCheckbox;
+    } ItemExpected_t;
+
+    static const ItemInfo_t     _rgItemInfo[];
+    static const ItemExpected_t _rgItemExpected[];
+    static const FactValue_t    _rgFactValuesWaypoint[];
+    static const FactValue_t    _rgFactValuesLoiterUnlim[];
+    static const FactValue_t    _rgFactValuesLoiterTurns[];
+    static const FactValue_t    _rgFactValuesLoiterTime[];
+    static const FactValue_t    _rgFactValuesLand[];
+    static const FactValue_t    _rgFactValuesTakeoff[];
+    static const FactValue_t    _rgFactValuesConditionDelay[];
+    static const FactValue_t    _rgFactValuesDoJump[];
+};
+
+#endif

src/MissionManager/VisualMissionItem.cc

+/*===================================================================
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#include <QStringList>
+#include <QDebug>
+
+#include "VisualMissionItem.h"
+#include "FirmwarePluginManager.h"
+#include "QGCApplication.h"
+#include "JsonHelper.h"
+
+VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
+    : QObject(parent)
+    , _vehicle(vehicle)
+    , _sequenceNumber(0)
+    , _isCurrentItem(false)
+    , _dirty(false)
+    , _altDifference(0.0)
+    , _altPercent(0.0)
+    , _azimuth(0.0)
+    , _distance(0.0)
+{
+
+}
+
+VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
+    : QObject(parent)
+    , _vehicle(NULL)
+    , _sequenceNumber(0)
+    , _isCurrentItem(false)
+    , _dirty(false)
+    , _altDifference(0.0)
+    , _altPercent(0.0)
+    , _azimuth(0.0)
+    , _distance(0.0)
+{
+    *this = other;
+}
+
+const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& other)
+{
+    _vehicle = other._vehicle;
+
+    setSequenceNumber(other._sequenceNumber);
+    setIsCurrentItem(other._isCurrentItem);
+    setDirty(other._dirty);
+    setAltDifference(other._altDifference);
+    setAltPercent(other._altPercent);
+    setAzimuth(other._azimuth);
+    setDistance(other._distance);
+
+    return *this;
+}
+
+VisualMissionItem::~VisualMissionItem()
+{    
+}
+
+void VisualMissionItem::setIsCurrentItem(bool isCurrentItem)
+{
+    if (_isCurrentItem != isCurrentItem) {
+        _isCurrentItem = isCurrentItem;
+        emit isCurrentItemChanged(isCurrentItem);
+    }
+}
+
+void VisualMissionItem::setDistance(double distance)
+{
+    _distance = distance;
+    emit distanceChanged(_distance);
+}
+
+void VisualMissionItem::setAltDifference(double altDifference)
+{
+    _altDifference = altDifference;
+    emit altDifferenceChanged(_altDifference);
+}
+
+void VisualMissionItem::setAltPercent(double altPercent)
+{
+    _altPercent = altPercent;
+    emit altPercentChanged(_altPercent);
+}
+
+void VisualMissionItem::setAzimuth(double azimuth)
+{
+    _azimuth = azimuth;
+    emit azimuthChanged(_azimuth);
+}
+
+void VisualMissionItem::setSequenceNumber (int sequenceNumber)
+{
+    if (_sequenceNumber != sequenceNumber) {
+        _sequenceNumber = sequenceNumber;
+        emit sequenceNumberChanged(_sequenceNumber);
+    }
+}

src/MissionManager/VisualMissionItem.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef VisualMissionItem_H
+#define VisualMissionItem_H
+
+#include <QObject>
+#include <QString>
+#include <QtQml>
+#include <QTextStream>
+#include <QJsonObject>
+#include <QGeoCoordinate>
+
+#include "QGCMAVLink.h"
+#include "QGC.h"
+#include "MavlinkQmlSingleton.h"
+#include "QmlObjectListModel.h"
+#include "Fact.h"
+#include "QGCLoggingCategory.h"
+#include "QmlObjectListModel.h"
+#include "MissionCommands.h"
+
+// Abstract base class for all Simple and Complex visual mission objects.
+class VisualMissionItem : public QObject
+{
+    Q_OBJECT
+    
+public:
+    VisualMissionItem(Vehicle* vehicle, QObject* parent = NULL);
+    VisualMissionItem(const VisualMissionItem& other, QObject* parent = NULL);
+
+    ~VisualMissionItem();
+
+    const VisualMissionItem& operator=(const VisualMissionItem& other);
+
+    // The following properties are calulated/set by the MissionControll recalc methods
+
+    Q_PROPERTY(double altDifference READ altDifference  WRITE setAltDifference  NOTIFY altDifferenceChanged)    ///< Change in altitude from previous waypoint
+    Q_PROPERTY(double altPercent    READ altPercent     WRITE setAltPercent     NOTIFY altPercentChanged)       ///< Percent of total altitude change in mission altitude
+    Q_PROPERTY(double azimuth       READ azimuth        WRITE setAzimuth        NOTIFY azimuthChanged)          ///< Azimuth to previous waypoint
+    Q_PROPERTY(double distance      READ distance       WRITE setDistance       NOTIFY distanceChanged)         ///< Distance to previous waypoint
+
+    // Visual mission items have two coordinates associated with them:
+
+    /// This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
+    Q_PROPERTY(QGeoCoordinate coordinate        READ coordinate     WRITE setCoordinate NOTIFY coordinateChanged)
+
+    /// @return true: coordinate.latitude is relative to home altitude
+    Q_PROPERTY(bool coordinateHasRelativeAltitude READ coordinateHasRelativeAltitude NOTIFY coordinateHasRelativeAltitudeChanged)
+
+    /// This is the exit point for a waypoint line coming out of the item.
+    Q_PROPERTY(QGeoCoordinate exitCoordinate    READ exitCoordinate                     NOTIFY exitCoordinateChanged)
+
+    /// @return true: coordinate.latitude is relative to home altitude
+    Q_PROPERTY(bool exitCoordinateHasRelativeAltitude READ exitCoordinateHasRelativeAltitude NOTIFY exitCoordinateHasRelativeAltitudeChanged)
+
+    /// @return true: exitCoordinate and coordinate are the same value
+    Q_PROPERTY(bool exitCoordinateSameAsEntry READ exitCoordinateSameAsEntry NOTIFY exitCoordinateSameAsEntry)
+
+    // General properties associated with all types of visual mission items
+
+    Q_PROPERTY(QString  commandDescription      READ commandDescription                                 NOTIFY commandDescriptionChanged)
+    Q_PROPERTY(QString  commandName             READ commandName                                        NOTIFY commandNameChanged)
+    Q_PROPERTY(bool     dirty                   READ dirty                  WRITE setDirty              NOTIFY dirtyChanged)                    ///< Item is dirty and requires save/send
+    Q_PROPERTY(bool     isCurrentItem           READ isCurrentItem          WRITE setIsCurrentItem      NOTIFY isCurrentItemChanged)
+    Q_PROPERTY(int      sequenceNumber          READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
+    Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate                                NOTIFY specifiesCoordinateChanged)      ///< Item is associated with a coordinate position
+    Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate                             NOTIFY isStandaloneCoordinateChanged)   ///< Wayoint line does not go through item
+    Q_PROPERTY(bool     isSimpleItem            READ isSimpleItem                                       NOTIFY isSimpleItemChanged)             ///< Simple or Complex MissionItem
+
+    /// List of child mission items. Child mission item are subsequent mision items which do not specify a coordinate. They
+    /// are shown next to the exitCoordinate indidcator in the ui.
+    Q_PROPERTY(QmlObjectListModel*  childItems      READ childItems     CONSTANT)
+
+    // Property accesors
+    
+    double altDifference    (void) const { return _altDifference; }
+    double altPercent       (void) const { return _altPercent; }
+    double azimuth          (void) const { return _azimuth; }
+    double distance         (void) const { return _distance; }
+    bool   isCurrentItem    (void) const { return _isCurrentItem; }
+    int    sequenceNumber   (void) const { return _sequenceNumber; }
+
+    QmlObjectListModel* childItems(void) { return &_childItems; }
+
+    void setIsCurrentItem   (bool isCurrentItem);
+    void setAltDifference   (double altDifference);
+    void setAltPercent      (double altPercent);
+    void setAzimuth         (double azimuth);
+    void setDistance        (double distance);
+    void setSequenceNumber  (int sequenceNumber);
+
+    Vehicle* vehicle(void) { return _vehicle; }
+
+    // Pure virtuals which must be provides by derived classes
+
+    virtual bool            dirty                   (void) const = 0;
+    virtual bool            isSimpleItem            (void) const = 0;
+    virtual bool            isStandaloneCoordinate  (void) const = 0;
+    virtual bool            specifiesCoordinate     (void) const = 0;
+    virtual QString         commandDescription      (void) const = 0;
+    virtual QString         commandName             (void) const = 0;
+    virtual QGeoCoordinate  coordinate              (void) const = 0;
+    virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
+
+    virtual bool coordinateHasRelativeAltitude      (void) const = 0;
+    virtual bool exitCoordinateHasRelativeAltitude  (void) const = 0;
+    virtual bool exitCoordinateSameAsEntry          (void) const = 0;
+
+    virtual void setDirty           (bool dirty) = 0;
+    virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
+
+    /// Save the item in Json format
+    ///     @param missionObject Top level object for entire mission file
+    ///     @param missionItems Array of mission items
+    /// @return false: save failed, errorString set
+    virtual bool save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) = 0;
+
+signals:
+    void altDifferenceChanged           (double altDifference);
+    void altPercentChanged              (double altPercent);
+    void azimuthChanged                 (double azimuth);
+    void commandDescriptionChanged      (void);
+    void commandNameChanged             (void);
+    void coordinateChanged              (const QGeoCoordinate& coordinate);
+    void exitCoordinateChanged          (const QGeoCoordinate& exitCoordinate);
+    void dirtyChanged                   (bool dirty);
+    void distanceChanged                (double distance);
+    void isCurrentItemChanged           (bool isCurrentItem);
+    void sequenceNumberChanged          (int sequenceNumber);
+    void isSimpleItemChanged            (bool isSimpleItem);
+    void specifiesCoordinateChanged     (void);
+    void isStandaloneCoordinateChanged  (void);
+
+    void coordinateHasRelativeAltitudeChanged       (bool coordinateHasRelativeAltitude);
+    void exitCoordinateHasRelativeAltitudeChanged   (bool exitCoordinateHasRelativeAltitude);
+    void exitCoordinateSameAsEntry                  (bool exitCoordinateSameAsEntry);
+
+protected:
+    Vehicle*    _vehicle;
+    int         _sequenceNumber;
+    bool        _isCurrentItem;
+    bool        _dirty;
+    double      _altDifference;             ///< Difference in altitude from previous waypoint
+    double      _altPercent;                ///< Percent of total altitude change in mission
+    double      _azimuth;                   ///< Azimuth to previous waypoint
+    double      _distance;                  ///< Distance to previous waypoint
+
+    /// This is used to reference any subsequent mission items which do not specify a coordinate.
+    QmlObjectListModel  _childItems;
+};
+
+#endif

src/QmlControls/MissionItemEditor.qml

@@ -82,14 +82,14 @@ Rectangle {
                 }
 
                 MenuSeparator {
-                    visible: !missionItem.simpleItem
+                    visible: missionItem.isSimpleItem
                 }
 
                 MenuItem {
                     text:       "Show all values"
                     checkable:  true
                     checked:    missionItem.rawEdit
-                    visible:    !missionItem.simpleItem
+                    visible:    missionItem.isSimpleItem
 
                     onTriggered:    {
                         if (missionItem.rawEdit) {
@@ -114,7 +114,7 @@ Rectangle {
         anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
         anchors.left:           label.right
         anchors.right:          hamburger.left
-        visible:                missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.simpleItem
+        visible:                missionItem.sequenceNumber != 0 && missionItem.isCurrentItem && !missionItem.rawEdit && missionItem.isSimpleItem
         text:                   missionItem.commandName
 
         Component {
@@ -130,9 +130,9 @@ Rectangle {
 
     QGCLabel {
         anchors.fill:       commandPicker
-        visible:            missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.simpleItem
+        visible:            missionItem.sequenceNumber == 0 || !missionItem.isCurrentItem || !missionItem.isSimpleItem
         verticalAlignment:  Text.AlignVCenter
-        text:               missionItem.sequenceNumber == 0 ? "Home Position" : (missionItem.simpleItem ? missionItem.commandName : "Survey")
+        text:               missionItem.sequenceNumber == 0 ? "Home Position" : (missionItem.isSimpleItem ? missionItem.commandName : "Survey")
         color:              _outerTextColor
     }
 
@@ -142,7 +142,7 @@ Rectangle {
         anchors.topMargin:  _margin
         anchors.left:       parent.left
         anchors.top:        commandPicker.bottom
-        sourceComponent:    missionItem.simpleItem ? simpleMissionItemEditor : complexMissionItemEditor
+        sourceComponent:    missionItem.isSimpleItem ? simpleMissionItemEditor : complexMissionItemEditor
 
         /// How wide the loaded component should be
         property real availableWidth: _root.width - (_margin * 2)

src/QmlControls/QmlObjectListModel.cc

@@ -220,3 +220,11 @@ void QmlObjectListModel::_childDirtyChanged(bool dirty)
     // signal to know when a child has changed dirty state
     emit dirtyChanged(_dirty);
 }
+
+void QmlObjectListModel::deleteListAndContents(void)
+{
+    for (int i=0; i<_objectList.count(); i++) {
+        _objectList[i]->deleteLater();
+    }
+    deleteLater();
+}

src/QmlControls/QmlObjectListModel.h

@@ -60,6 +60,9 @@ public:
     int indexOf(QObject* object) { return _objectList.indexOf(object); }
     template<class T> T value(int index) { return qobject_cast<T>(_objectList[index]); }
 
+    /// Calls deleteLater on all items and this itself.
+    void deleteListAndContents(void);
+
 signals:
     void countChanged(int count);
     void dirtyChanged(bool dirtyChanged);

src/Vehicle/Vehicle.cc

@@ -923,11 +923,6 @@ void Vehicle::setActive(bool active)
     _startJoystick(_active);
 }
 
-QmlObjectListModel* Vehicle::missionItemsModel(void)
-{
-    return missionManager()->missionItems();
-}
-
 bool Vehicle::homePositionAvailable(void)
 {
     return _homePositionAvailable;

src/Vehicle/Vehicle.h

@@ -160,7 +160,6 @@ public:
     Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                     CONSTANT)
     Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                             NOTIFY coordinateChanged)
     Q_PROPERTY(bool                 coordinateValid         READ coordinateValid                        NOTIFY coordinateValidChanged)
-    Q_PROPERTY(MissionManager*      missionManager          MEMBER _missionManager                      CONSTANT)
     Q_PROPERTY(bool                 homePositionAvailable   READ homePositionAvailable                  NOTIFY homePositionAvailableChanged)
     Q_PROPERTY(QGeoCoordinate       homePosition            READ homePosition                           NOTIFY homePositionChanged)
     Q_PROPERTY(bool                 armed                   READ armed              WRITE setArmed      NOTIFY armedChanged)
@@ -173,7 +172,6 @@ public:
     Q_PROPERTY(float                latitude                READ latitude                               NOTIFY coordinateChanged)
     Q_PROPERTY(float                longitude               READ longitude                              NOTIFY coordinateChanged)
     Q_PROPERTY(QString              currentState            READ currentState                           NOTIFY currentStateChanged)
-    Q_PROPERTY(QmlObjectListModel*  missionItems            READ missionItemsModel                      CONSTANT)
     Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                        NOTIFY messageTypeChanged)
     Q_PROPERTY(bool                 messageTypeNormal       READ messageTypeNormal                      NOTIFY messageTypeChanged)
     Q_PROPERTY(bool                 messageTypeWarning      READ messageTypeWarning                     NOTIFY messageTypeChanged)
@@ -237,7 +235,6 @@ public:
     QGeoCoordinate coordinate(void) { return _coordinate; }
     bool coordinateValid(void)      { return _coordinateValid; }
     void _setCoordinateValid(bool coordinateValid);
-    QmlObjectListModel* missionItemsModel(void);
 
     typedef enum {
         JoystickModeRC,         ///< Joystick emulates an RC Transmitter

src/qgcunittest/MultiSignalSpy.cc

@@ -92,7 +92,8 @@ bool MultiSignalSpy::_checkSignalByMaskWorker(quint16 mask, bool multipleSignals
             QSignalSpy* spy = _rgSpys[i];
             Q_ASSERT(spy != NULL);
             
-            if ((multipleSignalsAllowed && spy->count() ==  0) || spy->count() != 1) {
+            if ((multipleSignalsAllowed && spy->count() ==  0) || (!multipleSignalsAllowed && spy->count() != 1)) {
+                qDebug() << "Failed index:" << i;
                 _printSignalState();
                 return false;
             }

src/qgcunittest/UnitTestList.cc

@@ -32,6 +32,7 @@
 #include "LinkManagerTest.h"
 #include "MessageBoxTest.h"
 #include "MissionItemTest.h"
+#include "SimpleMissionItemTest.h"
 #include "MissionControllerTest.h"
 #include "MissionManagerTest.h"
 #include "RadioConfigTest.h"
@@ -47,6 +48,7 @@ UT_REGISTER_TEST(LinkManagerTest)
 UT_REGISTER_TEST(MavlinkLogTest)
 UT_REGISTER_TEST(MessageBoxTest)
 UT_REGISTER_TEST(MissionItemTest)
+UT_REGISTER_TEST(SimpleMissionItemTest)
 UT_REGISTER_TEST(MissionControllerTest)
 UT_REGISTER_TEST(MissionManagerTest)
 UT_REGISTER_TEST(RadioConfigTest)