diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 22250809993f165cf9bc6c524406acc21f4a41c5..99025bac2f016905cfd728d4ade9819bc57e10bd 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -438,10 +438,12 @@ HEADERS += \
     src/Wima/Snake/SnakeTiles.h \
     src/Wima/Snake/SnakeTilesLocal.h \
     src/Wima/Snake/SnakeWorker.h \
-    src/Wima/WaypointManager/GenericPathSlicer.h \
+    src/Wima/WaypointManager/GenericSlicer.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/Geometry/WimaPolygonArray.h \
     src/Wima/Snake/snaketile.h \
+    src/Wima/WaypointManager/Settings.h \
+    src/Wima/WaypointManager/utils.h \
     src/api/QGCCorePlugin.h \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
@@ -495,8 +497,10 @@ SOURCES += \
     src/Wima/Geometry/PolygonArray.cc \
     src/Wima/Snake/QNemoProgress.cc \
     src/Wima/Snake/SnakeWorker.cc \
-    src/Wima/WaypointManager/GenericPathSlicer.cpp \
+    src/Wima/WaypointManager/GenericSlicer.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
+    src/Wima/WaypointManager/Settings.cpp \
+    src/Wima/WaypointManager/utils.cpp \
     src/comm/ros_bridge/include/ComPrivateInclude.cpp \
     src/comm/ros_bridge/include/MessageTag.cpp \
     src/comm/ros_bridge/include/TopicPublisher.cpp \
diff --git a/src/Wima/WaypointManager/GenericPathSlicer.cpp b/src/Wima/WaypointManager/GenericPathSlicer.cpp
deleted file mode 100644
index 68a57444b8aa6a9701ab7af30d83f0590fa6d167..0000000000000000000000000000000000000000
--- a/src/Wima/WaypointManager/GenericPathSlicer.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "GenericPathSlicer.h"
diff --git a/src/Wima/WaypointManager/GenericPathSlicer.h b/src/Wima/WaypointManager/GenericPathSlicer.h
deleted file mode 100644
index b8f379570f163e686e49273d34ef47decbfa64eb..0000000000000000000000000000000000000000
--- a/src/Wima/WaypointManager/GenericPathSlicer.h
+++ /dev/null
@@ -1,245 +0,0 @@
-#pragma once
-
-#include <assert.h>
-#include <iostream>
-
-//! @brief Base class for all waypoint managers.
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-class GenericPathSlicer
-{
-public:
-    typedef Container<ElementType> ContainerType;
-    GenericPathSlicer();
-
-    const ContainerType &path  () const;
-
-    // Waypoint editing.
-    void            setPath     (const ContainerType &path);
-    void            push_back   (const ElementType &wp);
-    void            push_front  (const ElementType &wp);
-    void            clear       ();
-    void            insert      (int i, const ElementType &wp);
-    uint32_t size();
-    ElementType     &at         (unsigned int i);
-
-
-    // Slicing.
-    void slice      (ContainerType &slice);
-    void next       (ContainerType &slice);
-    void previous   (ContainerType &slice);
-    void reset      (ContainerType &slice);
-
-
-    // Slicing parameters.
-    //! @brief Sets the overlap.
-    //!
-    //! @param overlap The number of overlapping vertices
-    //! between on and the next slice.
-    void setOverlap            (uint32_t overlap);
-    //! @brief Sets the number of vertices per slice.
-    //!
-    //! @param N The number of vertices per slice.
-    void setN   (std::uint32_t N);
-    //! @brief Sets the start index.
-    //!
-    //! @param idxStart The start index.
-    void setStartIndex         (int idxStart);
-
-    //! @return Returns the overlap.
-    uint32_t      overlap       ();
-    //! @return Returns the number of vertices per slice N.
-    uint32_t      N             ();
-    //! @return Returns the start index.
-    int           startIndex    ();
-    //! @return Returns the end index.
-    int           endIndex    ();
-    //! @return Returns the start index of the next slice.
-    int           nextIndex    ();
-
-
-private:
-    void _updateIdx();
-
-    ContainerType _path;
-    long          _idxStart;
-    long          _idxEnd;
-    long          _idxNext;
-    long          _idxPrevious;
-    uint32_t      _overlap;
-    uint32_t      _N;
-    bool          _idxValid;
-    bool          _atEnd;
-
-
-};
-
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-GenericPathSlicer<ElementType, Container>::GenericPathSlicer():
-    _idxValid(false)
-  , _atEnd(false)
-{}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-const Container<ElementType> &GenericPathSlicer<ElementType, Container>::path() const {
-    return _path;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::setPath(const ContainerType &waypoints) {
-    _idxValid = false;
-    _path = waypoints;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::push_back(const ElementType &wp) {
-    _idxValid = false;
-    _path.push_back(wp);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::push_front(const ElementType &wp) {
-    _idxValid = false;
-    _path.push_front(wp);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::clear(){
-    _idxValid = false;
-    _path.clear();
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::insert(int i, const ElementType &wp){
-    _idxValid = false;
-    _path.insert(i, wp);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-std::uint32_t GenericPathSlicer<ElementType, Container>::size()
-{
-    return std::uint32_t(_path.size());
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-ElementType &GenericPathSlicer<ElementType, Container>::at(unsigned int i)
-{
-    return _path.at(i);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::setOverlap(std::uint32_t overlap)
-{
-    _idxValid = false;
-    _overlap = overlap;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::setN(uint32_t N)
-{
-    _idxValid = false;
-    _N = N > 0 ? N : 1;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::setStartIndex(int idxStart)
-{
-    _idxValid = false;
-    _idxStart = idxStart;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-uint32_t GenericPathSlicer<ElementType, Container>::overlap()
-{
-    return _overlap;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-uint32_t GenericPathSlicer<ElementType, Container>::N()
-{
-    return _N;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-int GenericPathSlicer<ElementType, Container>::startIndex()
-{
-    if (!_idxValid)
-        _updateIdx();
-    return _idxStart;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-int GenericPathSlicer<ElementType, Container>::endIndex()
-{
-    if (!_idxValid)
-        _updateIdx();
-    return _idxEnd;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-int GenericPathSlicer<ElementType, Container>::nextIndex()
-{
-    if (!_idxValid)
-        _updateIdx();
-    return _idxNext;
-}
-
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::_updateIdx()
-{
-    _idxValid = true;
-    _atEnd    = false;
-    std::uint64_t size = _path.size();
-    if ( _idxStart >= size-1 ) {
-        _idxStart   = size-1;
-        _idxEnd     = _idxStart;
-        _idxNext    = _idxStart;
-        _atEnd      = true;
-        return;
-    }
-
-    _idxStart < 0 ? 0 : _idxStart;
-
-    _idxEnd = _idxStart + _N - 1;
-    _idxEnd = _idxEnd < size ? _idxEnd : size-1;
-
-    _idxNext = _idxEnd + 1 - _overlap;
-    _idxNext = _idxNext < 0    ? 0        : _idxNext;
-    _idxNext = _idxNext < size ? _idxNext : size-1;
-
-    _idxPrevious = _idxStart - 1 + _overlap;
-    _idxPrevious = _idxPrevious < 0    ? 0        : _idxPrevious;
-    _idxPrevious = _idxPrevious < size ? _idxPrevious : size-1;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::slice(Container<ElementType> &c){
-
-    if ( !_idxValid)
-        _updateIdx();
-
-    (void)c;
-    assert(false); //ToDo
-
-    // extract waypoints
-
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::next(Container<ElementType> &c){
-    setStartIndex(_idxNext);
-    slice(c);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::previous(Container<ElementType> &c){
-    setStartIndex(_idxPrevious);
-    slice(c);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericPathSlicer<ElementType, Container>::reset(Container<ElementType> &c){
-    setStartIndex(0);
-    slice(c);
-}
diff --git a/src/Wima/WaypointManager/GenericSlicer.cpp b/src/Wima/WaypointManager/GenericSlicer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2131d73c98d1f00de5393f6d6f2c5392488f5ac1
--- /dev/null
+++ b/src/Wima/WaypointManager/GenericSlicer.cpp
@@ -0,0 +1 @@
+#include "GenericSlicer.h"
diff --git a/src/Wima/WaypointManager/GenericSlicer.h b/src/Wima/WaypointManager/GenericSlicer.h
new file mode 100644
index 0000000000000000000000000000000000000000..ce5930e4fe97fcb75d6c36c857b127ad9b0892d2
--- /dev/null
+++ b/src/Wima/WaypointManager/GenericSlicer.h
@@ -0,0 +1,164 @@
+#pragma once
+
+#include <assert.h>
+#include <iostream>
+
+#include "utils.h"
+
+//! @brief Base class for all waypoint managers.
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+class GenericSlicer
+{
+public:
+    typedef Container<ElementType> ContainerType;
+    GenericSlicer();
+
+
+    // Slicing.
+    void slice      (const ContainerType &source, ContainerType &slice);
+    void next       (const ContainerType &source, ContainerType &slice);
+    void previous   (const ContainerType &source, ContainerType &slice);
+    void reset      (const ContainerType &source, ContainerType &slice);
+
+
+    // Slicing parameters.
+    //! @brief Sets the overlap.
+    //!
+    //! @param overlap The number of overlapping vertices
+    //! between on and the next slice.
+    void setOverlap            (uint32_t overlap);
+    //! @brief Sets the number of vertices per slice.
+    //!
+    //! @param N The number of vertices per slice.
+    void setN   (std::uint32_t N);
+    //! @brief Sets the start index.
+    //!
+    //! @param idxStart The start index.
+    void setStartIndex         (int idxStart);
+
+    //! @return Returns the overlap.
+    uint32_t      overlap       ();
+    //! @return Returns the number of vertices per slice N.
+    uint32_t      N             ();
+    //! @return Returns the start index.
+    int           startIndex    ();
+
+
+private:
+    void _updateIdx(std::size_t size);
+
+    long          _idxStart;
+    long          _idxEnd;
+    long          _idxNext;
+    long          _idxPrevious;
+    uint32_t      _overlap;
+    uint32_t      _N;
+    bool          _idxValid;
+    bool          _atEnd;
+
+
+};
+
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+GenericSlicer<ElementType, Container>::GenericSlicer():
+    _idxValid(false)
+  , _atEnd(false)
+{}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::setOverlap(std::uint32_t overlap)
+{
+    _idxValid = false;
+    _overlap = overlap;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::setN(uint32_t N)
+{
+    _idxValid = false;
+    _N = N > 0 ? N : 1;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::setStartIndex(int idxStart)
+{
+    _idxValid = false;
+    _idxStart = idxStart;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+uint32_t GenericSlicer<ElementType, Container>::overlap()
+{
+    return _overlap;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+uint32_t GenericSlicer<ElementType, Container>::N()
+{
+    return _N;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+int GenericSlicer<ElementType, Container>::startIndex()
+{
+    return _idxStart;
+}
+
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::_updateIdx(std::size_t size)
+{
+    _idxValid = true;
+    _atEnd    = false;
+    if ( _idxStart >= size-1 ) {
+        _idxStart   = size-1;
+        _idxEnd     = _idxStart;
+        _idxNext    = _idxStart;
+        _atEnd      = true;
+        return;
+    }
+
+    _idxStart < 0 ? 0 : _idxStart;
+
+    _idxEnd = _idxStart + _N - 1;
+    _idxEnd = _idxEnd < size ? _idxEnd : size-1;
+
+    _idxNext = _idxEnd + 1 - _overlap;
+    _idxNext = _idxNext < 0    ? 0        : _idxNext;
+    _idxNext = _idxNext < size ? _idxNext : size-1;
+
+    _idxPrevious = _idxStart - 1 + _overlap;
+    _idxPrevious = _idxPrevious < 0    ? 0            : _idxPrevious;
+    _idxPrevious = _idxPrevious < size ? _idxPrevious : size-1;
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::slice(const ContainerType &source,
+                                                  Container<ElementType> &slice){
+
+    if ( !_idxValid)
+        _updateIdx(source.size());
+
+    WaypointManager::Utils::extract(source, slice, _idxStart, _idxEnd);
+    // extract waypoints
+
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::next(const ContainerType &source, Container<ElementType> &slice){
+    setStartIndex(_idxNext);
+    slice(source, slice);
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::previous(const ContainerType &source, Container<ElementType> &slice){
+    setStartIndex(_idxPrevious);
+    slice(source, slice);
+}
+
+template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
+void GenericSlicer<ElementType, Container>::reset(const ContainerType &source, Container<ElementType> &slice){
+    setStartIndex(0);
+    slice(source, slice);
+}
diff --git a/src/Wima/WaypointManager/GenericWaypointManager.cpp b/src/Wima/WaypointManager/GenericWaypointManager.cpp
index f5819b9ce12edb10cc4554f8ae22650af0670ba6..489faec251db3d143e031384b3f026b456bf2e54 100644
--- a/src/Wima/WaypointManager/GenericWaypointManager.cpp
+++ b/src/Wima/WaypointManager/GenericWaypointManager.cpp
@@ -1,6 +1 @@
 #include "GenericWaypointManager.h"
-
-GenericWaypointManager::GenericWaypointManager()
-{
-
-}
diff --git a/src/Wima/WaypointManager/GenericWaypointManager.h b/src/Wima/WaypointManager/GenericWaypointManager.h
index 8ec74f3b8d6487964d45ff12190fbd0820a181ea..14cda453f880840d85e76b130e8ca4366a153248 100644
--- a/src/Wima/WaypointManager/GenericWaypointManager.h
+++ b/src/Wima/WaypointManager/GenericWaypointManager.h
@@ -1,8 +1,63 @@
 #pragma once
 
+#include <iostream>
 
+#include "GenericSlicer.h"
+#include "Settings.h"
+
+namespace WaypointManager {
+
+template<class WaypointType,
+         template<class, class...> class ContainerType>
 class GenericWaypointManager
 {
+    typedef GenericSlicer<WaypointType, ContainerType> Slicer;
 public:
-    GenericWaypointManager();
+    typedef ContainerType<WaypointType>  WaypointList;
+
+    GenericWaypointManager() = delete;
+    GenericWaypointManager(Slicer *slicer, Settings *settings);
+
+    // Waypoint editing.
+    void            setWaypoints(const WaypointList &waypoints);
+    void            push_back   (const WaypointType &wp);
+    void            push_front  (const WaypointType &wp);
+    void            clear       ();
+    void            insert      (int i, const ElementType &wp);
+    uint32_t        size        ()  const;
+    WaypointType    &at         (unsigned int i);
+
+
+    const ContainerType &getWaypoints  () ;
+    const ContainerType &getSlcieaypoints  () ;
+    const ContainerType &missionItems  () ;
+
+    void slice();
+    void next();
+    void previous();
+    void reset();
+
+private:
+    WaypointList _waypoints;
+    WaypointList _slice;
+    bool         _sliceValid;
+    Slicer      *_slicer;
+    Settings    *_settings;
+
 };
+
+
+template<class WaypointType,
+         template<class, class...> class ContainerType>
+GenericWaypointManager<WaypointType, ContainerType>::GenericWaypointManager(
+        Slicer *slicer,
+        Settings *Settings) :
+    _sliceValid(false)
+  , _slicer(slicer)
+  , _settings(_settings)
+{}
+
+
+
+} // namespace WaypointManager
+
diff --git a/src/Wima/WaypointManager/Settings.cpp b/src/Wima/WaypointManager/Settings.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..73916727690676c11ddcd6e649e15930b9733600
--- /dev/null
+++ b/src/Wima/WaypointManager/Settings.cpp
@@ -0,0 +1 @@
+#include "Settings.h"
diff --git a/src/Wima/WaypointManager/Settings.h b/src/Wima/WaypointManager/Settings.h
new file mode 100644
index 0000000000000000000000000000000000000000..c971917060532acdf8f988dafb9c5732bef7b78c
--- /dev/null
+++ b/src/Wima/WaypointManager/Settings.h
@@ -0,0 +1,11 @@
+#pragma once
+
+namespace WaypointManager {
+
+class Settings
+{
+public:
+    Settings();
+};
+
+} // namespace WaypointManager
diff --git a/src/Wima/WaypointManager/utils.cpp b/src/Wima/WaypointManager/utils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0831f81f95ea01fbd17cb8a83291956e24a6023c
--- /dev/null
+++ b/src/Wima/WaypointManager/utils.cpp
@@ -0,0 +1,8 @@
+#include "utils.h"
+
+
+template<>
+QVariant getCoordinate<QVariant>(const SimpleMissionItem* item)
+{
+    return QVariant::fromValue(item->coordinate());
+}
diff --git a/src/Wima/WaypointManager/utils.h b/src/Wima/WaypointManager/utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..e94cda664511521fbf8ac8ad59dc2684377ff6a5
--- /dev/null
+++ b/src/Wima/WaypointManager/utils.h
@@ -0,0 +1,103 @@
+#pragma once
+
+namespace WaypointManager {
+namespace Utils {
+
+
+template<class CoordinateType>
+CoordinateType getCoordinate(const SimpleMissionItem* item){
+    return item->coordinate();
+}
+
+template<>
+QVariant getCoordinate<QVariant>(const SimpleMissionItem* item);
+
+
+/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
+template <class CoordinateType, template <class, class...> class ContainerType>
+bool extract(QmlObjectListModel &missionItems,
+             ContainerType<CoordinateType> &coordinateList,
+             std::size_t startIndex,
+             std::size_t  endIndex)
+{
+
+    if (   startIndex < std::size_t(missionItems.count())
+        && endIndex   < std::size_t(missionItems.count())
+        && missionItems.count() > 0) {
+        if (startIndex > endIndex) {
+            if ( !extract(missionItems,
+                          coordinateList,
+                          startIndex,
+                          std::size_t(missionItems.count()-1)) /*recursion*/)
+                return false;
+            if ( !extract(missionItems,
+                          coordinateList,
+                          0,
+                          endIndex) /*recursion*/)
+                return false;
+        } else {
+            for (std::size_t i = startIndex; i <= endIndex; ++i) {
+                SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(int(i));
+
+                if (mItem == nullptr) {
+                    coordinateList.clear();
+                    return false;
+                }
+                coordinateList.append(getCoordinate<CoordinateType>(mItem));
+            }
+        }
+    } else
+        return false;
+
+    return true;
+}
+
+/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
+template <class CoordinateType, template <class, class...> class ContainerType>
+bool extract(QmlObjectListModel &missionItems,
+             ContainerType<CoordinateType> &coordinateList)
+{
+
+    return extract(missionItems,
+                   coordinateList,
+                   std::size_t(0),
+                   std::size_t(missionItems.count())
+                   );
+}
+
+
+/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
+template <class CoordinateType, template <class, class...> class ContainerType>
+bool extract(ContainerType<CoordinateType>  &source,
+             ContainerType<CoordinateType>  &destination,
+             std::size_t startIndex,
+             std::size_t  endIndex)
+{
+
+    if (   startIndex < std::size_t(source.size())
+        && endIndex   < std::size_t(source.size())
+        && source.size() > 0) {
+        if (startIndex > endIndex) {
+            if ( !extract(source,
+                          destination,
+                          startIndex,
+                          std::size_t(source.size()-1)) /*recursion*/)
+                return false;
+            if ( !extract(source,
+                          destination,
+                          0,
+                          endIndex) /*recursion*/)
+                return false;
+        } else {
+            for (std::size_t i = startIndex; i <= endIndex; ++i) {
+                destination.append(source[i]);
+            }
+        }
+    } else
+        return false;
+
+    return true;
+}
+
+} // namespace WaypointManager
+} // namespace WaypointManager
diff --git a/src/Wima/WimaController.cc b/src/Wima/WimaController.cc
index f0735756145ca70486c6b191b6078fdb27d72698..4a20e7d7a4e70aee60e8bf18a87f1604fa9220b5 100644
--- a/src/Wima/WimaController.cc
+++ b/src/Wima/WimaController.cc
@@ -111,6 +111,18 @@ WimaController::WimaController(QObject *parent)
     _startStopRosBridge();
 }
 
+PlanMasterController *WimaController::masterController() {
+    return _masterController;
+}
+
+MissionController *WimaController::missionController() {
+    return _missionController;
+}
+
+QmlObjectListModel *WimaController::visualItems() {
+    return &_visualItems;
+}
+
 QVariantList WimaController::waypointPath() const
 {
     QVariantList list;
diff --git a/src/Wima/WimaController.h b/src/Wima/WimaController.h
index 54b1ec832e02dc6387cd8f0b63757e2a8fcf0dce..d8dc0693f335508864a4767c9a209c60c6af59d9 100644
--- a/src/Wima/WimaController.h
+++ b/src/Wima/WimaController.h
@@ -62,52 +62,154 @@ public:
     WimaController(QObject *parent = nullptr);
 
 
-    Q_PROPERTY(PlanMasterController*    masterController        READ masterController       WRITE setMasterController       NOTIFY masterControllerChanged)
-    Q_PROPERTY(MissionController*       missionController       READ missionController      WRITE setMissionController      NOTIFY missionControllerChanged)
-    Q_PROPERTY(QmlObjectListModel*      visualItems             READ visualItems                                            NOTIFY visualItemsChanged)
+    Q_PROPERTY(PlanMasterController*    masterController
+               READ                     masterController
+               WRITE                    setMasterController
+               NOTIFY                   masterControllerChanged
+               )
+    Q_PROPERTY(MissionController*       missionController
+               READ                     missionController
+               WRITE                    setMissionController
+               NOTIFY                   missionControllerChanged
+               )
+    Q_PROPERTY(QmlObjectListModel*      visualItems
+               READ                     visualItems
+               NOTIFY                   visualItemsChanged
+               )
 //    Q_PROPERTY(QString                  currentFile             READ currentFile                                            NOTIFY currentFileChanged)
 //    Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                                        CONSTANT)
 //    Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                                        CONSTANT)
 //    Q_PROPERTY(QString                  fileExtension           READ fileExtension                                          CONSTANT)
-    Q_PROPERTY(WimaDataContainer*       dataContainer           READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
-    Q_PROPERTY(QmlObjectListModel*      missionItems            READ missionItems                                           NOTIFY missionItemsChanged)
-    Q_PROPERTY(QmlObjectListModel*      currentMissionItems     READ currentMissionItems                                    NOTIFY currentMissionItemsChanged)
-    Q_PROPERTY(QVariantList             waypointPath            READ waypointPath                                           NOTIFY waypointPathChanged)
-    Q_PROPERTY(QVariantList             currentWaypointPath     READ currentWaypointPath                                    NOTIFY currentWaypointPathChanged)
-    Q_PROPERTY(Fact*                    enableWimaController    READ enableWimaController                                   CONSTANT)
-    Q_PROPERTY(Fact*                    overlapWaypoints        READ overlapWaypoints                                       CONSTANT)
-    Q_PROPERTY(Fact*                    maxWaypointsPerPhase    READ maxWaypointsPerPhase                                   CONSTANT)
-    Q_PROPERTY(Fact*                    startWaypointIndex      READ startWaypointIndex                                     CONSTANT)
-    Q_PROPERTY(Fact*                    showAllMissionItems     READ showAllMissionItems                                    CONSTANT)
-    Q_PROPERTY(Fact*                    showCurrentMissionItems READ showCurrentMissionItems                                CONSTANT)
-    Q_PROPERTY(Fact*                    flightSpeed             READ flightSpeed                                            CONSTANT)
-    Q_PROPERTY(Fact*                    altitude                READ altitude                                               CONSTANT)
-    Q_PROPERTY(Fact*                    arrivalReturnSpeed      READ arrivalReturnSpeed                                     CONSTANT)
-    Q_PROPERTY(Fact*                    reverse                 READ reverse                                                CONSTANT)
-    Q_PROPERTY(bool                     uploadOverrideRequired  READ uploadOverrideRequired WRITE setUploadOverrideRequired NOTIFY uploadOverrideRequiredChanged)
-    Q_PROPERTY(double                   phaseDistance           READ phaseDistance                                          NOTIFY phaseDistanceChanged)
-    Q_PROPERTY(double                   phaseDuration           READ phaseDuration                                          NOTIFY phaseDurationChanged)
-    Q_PROPERTY(bool                     vehicleHasLowBattery    READ vehicleHasLowBattery                                   NOTIFY vehicleHasLowBatteryChanged)
+    Q_PROPERTY(WimaDataContainer*   dataContainer
+               READ                 dataContainer
+               WRITE                setDataContainer
+               NOTIFY               dataContainerChanged
+               )
+    Q_PROPERTY(QmlObjectListModel*  missionItems
+               READ                 missionItems
+               NOTIFY               missionItemsChanged
+               )
+    Q_PROPERTY(QmlObjectListModel*  currentMissionItems
+               READ                 currentMissionItems
+               NOTIFY               currentMissionItemsChanged
+               )
+    Q_PROPERTY(QVariantList waypointPath
+               READ         waypointPath
+               NOTIFY       waypointPathChanged
+               )
+    Q_PROPERTY(QVariantList currentWaypointPath
+               READ         currentWaypointPath
+               NOTIFY       currentWaypointPathChanged
+               )
+    Q_PROPERTY(Fact*                    enableWimaController
+               READ enableWimaController
+               CONSTANT)
+    Q_PROPERTY(Fact*    overlapWaypoints
+               READ     overlapWaypoints
+               CONSTANT
+               )
+    Q_PROPERTY(Fact* maxWaypointsPerPhase
+               READ  maxWaypointsPerPhase
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    startWaypointIndex
+               READ     startWaypointIndex
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    showAllMissionItems
+               READ     showAllMissionItems
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    showCurrentMissionItems
+               READ     showCurrentMissionItems
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    flightSpeed
+               READ     flightSpeed
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    altitude
+               READ     altitude
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    arrivalReturnSpeed
+               READ     arrivalReturnSpeed
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    reverse
+               READ     reverse
+               CONSTANT
+               )
+    Q_PROPERTY(bool     uploadOverrideRequired
+               READ     uploadOverrideRequired
+               WRITE    setUploadOverrideRequired
+               NOTIFY   uploadOverrideRequiredChanged
+               )
+    Q_PROPERTY(double   phaseDistance
+               READ     phaseDistance
+               NOTIFY   phaseDistanceChanged
+               )
+    Q_PROPERTY(double   phaseDuration
+               READ     phaseDuration
+               NOTIFY   phaseDurationChanged
+               )
+    Q_PROPERTY(bool     vehicleHasLowBattery
+               READ     vehicleHasLowBattery
+               NOTIFY   vehicleHasLowBatteryChanged
+               )
 
     // Snake
-    Q_PROPERTY(Fact*                    enableSnake                 READ enableSnake                CONSTANT)
-    Q_PROPERTY(long                     snakeConnectionStatus       READ snakeConnectionStatus      NOTIFY snakeConnectionStatusChanged)
-    Q_PROPERTY(bool                     snakeCalcInProgress         READ snakeCalcInProgress        NOTIFY snakeCalcInProgressChanged)
-    Q_PROPERTY(Fact*                    snakeTileWidth              READ snakeTileWidth             CONSTANT)
-    Q_PROPERTY(Fact*                    snakeTileHeight             READ snakeTileHeight            CONSTANT)
-    Q_PROPERTY(Fact*                    snakeMinTileArea            READ snakeMinTileArea           CONSTANT)
-    Q_PROPERTY(Fact*                    snakeLineDistance           READ snakeLineDistance          CONSTANT)
-    Q_PROPERTY(Fact*                    snakeMinTransectLength      READ snakeMinTransectLength     CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*      snakeTiles                  READ snakeTiles                 NOTIFY snakeTilesChanged)
-    Q_PROPERTY(QVariantList             snakeTileCenterPoints       READ snakeTileCenterPoints      NOTIFY snakeTileCenterPointsChanged)
-    Q_PROPERTY(QVector<int>             nemoProgress                READ nemoProgress               NOTIFY nemoProgressChanged)
+    Q_PROPERTY(Fact*    enableSnake
+               READ     enableSnake
+               CONSTANT
+               )
+    Q_PROPERTY(long     snakeConnectionStatus
+               READ     snakeConnectionStatus
+               NOTIFY   snakeConnectionStatusChanged
+               )
+    Q_PROPERTY(bool     snakeCalcInProgress
+               READ     snakeCalcInProgress
+               NOTIFY   snakeCalcInProgressChanged
+               )
+    Q_PROPERTY(Fact*    snakeTileWidth
+               READ     snakeTileWidth
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    snakeTileHeight
+               READ     snakeTileHeight
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    snakeMinTileArea
+               READ     snakeMinTileArea
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    snakeLineDistance
+               READ     snakeLineDistance
+               CONSTANT
+               )
+    Q_PROPERTY(Fact*    snakeMinTransectLength
+               READ     snakeMinTransectLength
+               CONSTANT
+               )
+    Q_PROPERTY(QmlObjectListModel*  snakeTiles
+               READ                 snakeTiles
+               NOTIFY               snakeTilesChanged
+               )
+    Q_PROPERTY(QVariantList snakeTileCenterPoints
+               READ         snakeTileCenterPoints
+               NOTIFY       snakeTileCenterPointsChanged
+               )
+    Q_PROPERTY(QVector<int>     nemoProgress
+               READ             nemoProgress
+               NOTIFY           nemoProgressChanged
+               )
 
 
 
     // Property accessors
-    PlanMasterController*       masterController       (void)           { return _masterController; }
-    MissionController*          missionController      (void)           { return _missionController; }
-    QmlObjectListModel*         visualItems            (void)           { return &_visualItems; }
+    PlanMasterController*       masterController       (void);
+    MissionController*          missionController      (void);
+    QmlObjectListModel*         visualItems            (void);
 //    QString                     currentFile            (void) const     { return _currentFile; }
 //    QStringList                 loadNameFilters        (void) const;
 //    QStringList                 saveNameFilters        (void) const;