Mission items now show summary

Plus lots of other cleanup

QGCApplication.pro

@@ -258,6 +258,7 @@ HEADERS += \
     src/QGCQuickWidget.h \
     src/QGCSingleton.h \
     src/QGCTemporaryFile.h \
+    src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
     src/SerialPortIds.h \
@@ -336,7 +337,7 @@ HEADERS += \
     src/ViewWidgets/CustomCommandWidgetController.h \
     src/ViewWidgets/ParameterEditorWidget.h \
     src/ViewWidgets/ViewWidgetController.h \
-    src/Waypoint.h \
+    src/MissionItem.h \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.h
 
 !iOSBuild {
@@ -467,7 +468,7 @@ SOURCES += \
     src/ViewWidgets/CustomCommandWidgetController.cc \
     src/ViewWidgets/ParameterEditorWidget.cc \
     src/ViewWidgets/ViewWidgetController.cc \
-    src/Waypoint.cc \
+    src/MissionItem.cc \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
 
 !iOSBuild {

src/FlightMap/FlightMap.qml

@@ -37,6 +37,7 @@ import QGroundControl.FlightMap             1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
 import QGroundControl.Vehicle               1.0
+import QGroundControl.Mavlink               1.0
 
 Item {
     id:     root
@@ -227,7 +228,12 @@ Item {
     
     function addMissionItem(missionItem, index) {
         if (!showMissionItems) {
-            console.warning("Shouldn't be called with showMissionItems=false")
+            console.warn("Shouldn't be called with showMissionItems=false")
+            return
+        }
+        
+        if (!missionItem.hasCoordinate) {
+            // Item has no map position associated with it
             return
         }
         
@@ -250,7 +256,7 @@ Item {
     
     function removeMissionItem(missionItem) {
         if (!showMissionItems) {
-            console.warning("Shouldn't be called with showMissionItems=false")
+            console.warn("Shouldn't be called with showMissionItems=false")
             return
         }
         
@@ -275,7 +281,6 @@ Item {
         
         var vehicle = multiVehicleManager.activeVehicle
         if (!vehicle) {
-            console.warning("Why no active vehicle?")
             return
         }
         
@@ -382,7 +387,6 @@ Item {
             
             MissionItemSummary {
                 missionItem:        modelData
-                missionItemIndex:   index + 1
             }
         }
     }

src/Waypoint.h → src/MissionItem.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/>.
+ 
+ ======================================================================*/
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK 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.
-
-    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Waypoint class
- *
- *   @author Benjamin Knecht <mavteam@student.ethz.ch>
- *   @author Petri Tanskanen <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef WAYPOINT_H
-#define WAYPOINT_H
+#ifndef MissionItem_H
+#define MissionItem_H
 
 #include <QObject>
 #include <QString>
@@ -41,12 +32,13 @@ This file is part of the PIXHAWK project
 
 #include "QGCMAVLink.h"
 #include "QGC.h"
+#include "MavlinkQmlSingleton.h"
 
-class Waypoint : public QObject
+class MissionItem : public QObject
 {
     Q_OBJECT
 public:
-    Waypoint(
+    MissionItem(
         QObject *parent = 0,
         quint16 id = 0,
         double  x = 0.0,
@@ -62,18 +54,24 @@ public:
         int     action = MAV_CMD_NAV_WAYPOINT,
         const QString& description=QString(""));
 
-    Waypoint(const Waypoint& other);
-    ~Waypoint();
+    MissionItem(const MissionItem& other);
+    ~MissionItem();
 
-    const Waypoint& operator=(const Waypoint& other);
+    const MissionItem& operator=(const MissionItem& other);
 
+    Q_PROPERTY(bool hasCoordinate READ hasCoordinate NOTIFY hasCoordinateChanged)
     Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
-    Q_PROPERTY(QString type READ type NOTIFY typeChanged)
+    
+    Q_PROPERTY(QString commandName READ commandName NOTIFY commandNameChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
     
     Q_PROPERTY(double  longitude READ longitude  NOTIFY longitudeChanged)
     Q_PROPERTY(double  latitude  READ latitude   NOTIFY latitudeChanged)
     Q_PROPERTY(double  altitude  READ altitude   NOTIFY altitudeChanged)
     Q_PROPERTY(quint16 id        READ id         CONSTANT)
+    
+    Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
+    Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
 
     double  latitude()  { return _x; }
     double  longitude() { return _y; }
@@ -167,9 +165,17 @@ public:
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
     
+    bool hasCoordinate(void);
     QGeoCoordinate coordinate(void);
-    QString type(void);
+    
+    QString commandName(void);
 
+    MavlinkQmlSingleton::Qml_MAV_CMD command(void) { return (MavlinkQmlSingleton::Qml_MAV_CMD)getAction(); };
+    void setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { setAction(command); }
+    
+    QStringList valueLabels(void);
+    QStringList valueStrings(void);
+    
 protected:
     quint16 _id;
     double  _x;
@@ -229,15 +235,22 @@ public:
 
 signals:
     /** @brief Announces a change to the waypoint data */
-    void changed(Waypoint* wp);
+    void changed(MissionItem* wp);
 
     void latitudeChanged    ();
     void longitudeChanged   ();
     void altitudeChanged    ();
+    void hasCoordinateChanged(bool hasCoordinate);
     void coordinateChanged(void);
-    void typeChanged(QString type);
+    void commandNameChanged(QString type);
+    void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
+    void valueLabelsChanged(QStringList valueLabels);
+    void valueStringsChanged(QStringList valueStrings);
+    
+private:
+    QString _oneDecimalString(double value);
 };
 
-QML_DECLARE_TYPE(Waypoint)
+QML_DECLARE_TYPE(MissionItem)
 
-#endif // WAYPOINT_H
+#endif

src/QGCApplication.cc

@@ -88,6 +88,7 @@ G_END_DECLS
 #include "Generic/GenericFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
+#include "MavlinkQmlSingleton.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -109,11 +110,8 @@ const char* QGCApplication::_savedFileParameterDirectoryName = "SavedParameters"
 const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
 const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
 
-/**
- * @brief ScreenTools creation callback
- *
- * This is called by the QtQuick engine for creating the singleton
- **/
+
+// Qml Singleton factories
 
 static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
 {
@@ -121,6 +119,11 @@ static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
     return screenToolsController;
 }
 
+static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
+{
+    return new MavlinkQmlSingleton;
+}
+
 #if defined(QGC_GST_STREAMING)
 #ifdef Q_OS_MAC
 #ifndef __ios__
@@ -339,11 +342,12 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<FirmwareUpgradeController>("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
 #endif
     
-    //-- Create QML Singleton Interfaces
-    qmlRegisterSingletonType<ScreenToolsController>("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
+    // Register Qml Singletons
+    qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
+    qmlRegisterSingletonType<MavlinkQmlSingleton>   ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
     
-    //-- Register Waypoint Interface
-    qmlRegisterInterface<Waypoint>("Waypoint");
+    //-- Register MissionItem Interface
+    qmlRegisterInterface<MissionItem>("MissionItem");
     // Show user an upgrade message if the settings version has been bumped up
     bool settingsUpgraded = false;
     if (settings.contains(_settingsVersionKey)) {

src/QmlControls/MissionItemSummary.qml

@@ -7,28 +7,65 @@ import QGroundControl.ScreenTools 1.0
 /// Mission item summary display control
 Rectangle {
     property var missionItem        ///< Mission Item object
-    property int missionItemIndex   ///< Index for this item
 
     width:          ScreenTools.defaultFontPixelWidth * 15
-    height:         ScreenTools.defaultFontPixelWidth * 3
+    height:         valueColumn.height + radius
     border.width:   2
     border.color:   "white"
     color:          "white"
     opacity:        0.75
     radius:         ScreenTools.defaultFontPixelWidth
-    
-    QGCLabel {
-        anchors.margins:        parent.radius / 2
-        anchors.left:           parent.left
-        anchors.top:            parent.top
-        color:                  "black"
-        horizontalAlignment:    Text.AlignTop
-        text:                   missionItem.type
-    }
-    
+
     MissionItemIndexLabel {
         anchors.top:        parent.top
         anchors.right:      parent.right
-        missionItemIndex:   parent.missionItemIndex + 1
+        missionItemIndex:   missionItem.id + 1
+    }
+
+    Column {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        parent.top
+
+        QGCLabel {
+            color:                  "black"
+            horizontalAlignment:    Text.AlignTop
+            font.weight:            Font.Bold
+            text:                   missionItem.commandName
+        }
+
+        Repeater {
+            model: missionItem.valueLabels
+
+            QGCLabel {
+                color:  "black"
+                text:   modelData
+            }
+        }
+    }
+
+    Column {
+        id:                 valueColumn
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        parent.top
+
+        QGCLabel {
+            font.weight:    Font.Bold
+            text:           " "
+        }
+
+        Repeater {
+            model: missionItem.valueStrings
+
+            QGCLabel {
+                width:                  valueColumn.width
+                color:                  "black"
+                text:                   modelData
+                horizontalAlignment:    Text.AlignRight
+            }
+        }
     }
 }

src/Vehicle/Vehicle.cc

@@ -126,7 +126,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
         connect(_wpm, &UASWaypointManager::currentWaypointChanged,   this, &Vehicle::_updateCurrentWaypoint);
         connect(_wpm, &UASWaypointManager::waypointDistanceChanged,  this, &Vehicle::_updateWaypointDistance);
         connect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)),     this, SLOT(_waypointViewOnlyListChanged(void)));
-        connect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)),this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
+        connect(_wpm, SIGNAL(waypointViewOnlyChanged(int,MissionItem*)),this, SLOT(_updateWaypointViewOnly(int,MissionItem*)));
         _wpm->readWaypoints(true);
     }
     UAS* pUas = dynamic_cast<UAS*>(_mav);
@@ -162,7 +162,7 @@ Vehicle::~Vehicle()
         disconnect(_wpm, &UASWaypointManager::currentWaypointChanged,    this, &Vehicle::_updateCurrentWaypoint);
         disconnect(_wpm, &UASWaypointManager::waypointDistanceChanged,   this, &Vehicle::_updateWaypointDistance);
         disconnect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)),      this, SLOT(_waypointViewOnlyListChanged(void)));
-        disconnect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
+        disconnect(_wpm, SIGNAL(waypointViewOnlyChanged(int,MissionItem*)), this, SLOT(_updateWaypointViewOnly(int,MissionItem*)));
     }
     UAS* pUas = dynamic_cast<UAS*>(_mav);
     if(pUas) {
@@ -688,7 +688,7 @@ void Vehicle::_updateCurrentWaypoint(quint16 id)
     }
 }
 
-void Vehicle::_updateWaypointViewOnly(int, Waypoint* /*wp*/)
+void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
 {
     /*
      bool changed = false;
@@ -708,11 +708,11 @@ void Vehicle::_updateWaypointViewOnly(int, Waypoint* /*wp*/)
 void Vehicle::_waypointViewOnlyListChanged()
 {
     if(_wpm) {
-        const QList<Waypoint*> &waypoints = _wpm->getWaypointViewOnlyList();
+        const QList<MissionItem*> &waypoints = _wpm->getWaypointViewOnlyList();
         _waypoints.clear();
         for(int i = 0; i < waypoints.count(); i++) {
-            Waypoint* wp = waypoints[i];
-            _waypoints.append(new Waypoint(*wp));
+            MissionItem* wp = waypoints[i];
+            _waypoints.append(new MissionItem(*wp));
         }
         emit missionItemsChanged();
         /*

src/Vehicle/Vehicle.h

@@ -88,8 +88,8 @@ public:
     Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
     Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
     
-    //-- Waypoint management
-    Q_PROPERTY(QQmlListProperty<Waypoint> missionItems READ missionItems NOTIFY missionItemsChanged)
+    //-- MissionItem management
+    Q_PROPERTY(QQmlListProperty<MissionItem> missionItems READ missionItems NOTIFY missionItemsChanged)
     
     // Property accesors
     int id(void) { return _id; }
@@ -162,7 +162,7 @@ public:
     uint16_t        currentWaypoint     () { return _currentWaypoint; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
     
-    QQmlListProperty<Waypoint> missionItems() {return QQmlListProperty<Waypoint>(this, _waypoints); }
+    QQmlListProperty<MissionItem> missionItems() {return QQmlListProperty<MissionItem>(this, _waypoints); }
     
 public slots:
     void setLatitude(double latitude);
@@ -235,7 +235,7 @@ private slots:
     void _updateWaypointDistance            (double distance);
     void _setSatelliteCount                 (double val, QString name);
     void _setSatLoc                         (UASInterface* uas, int fix);
-    void _updateWaypointViewOnly            (int uas, Waypoint* wp);
+    void _updateWaypointViewOnly            (int uas, MissionItem* wp);
     void _waypointViewOnlyListChanged       ();
 
 private:
@@ -301,6 +301,6 @@ private:
     int             _satelliteLock;
     UASWaypointManager* _wpm;
     int             _updateCount;
-    QList<Waypoint*>_waypoints;
+    QList<MissionItem*>_waypoints;
 };
 #endif

src/comm/MockLinkMissionItemHandler.cc

@@ -832,7 +832,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
         mavlink_command_long_t action;
         mavlink_msg_command_long_decode(msg, &action);
         if(action.target_system == systemid) {
-            if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
+            if (verbose) qDebug("MissionItem: received message with action %d\n", action.command);
 //            switch (action.action) {
 //				case MAV_ACTION_LAUNCH:
 //					if (verbose) std::cerr << "Launch received" << std::endl;
@@ -1129,7 +1129,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
     }
 
     default: {
-        if (debug) qDebug("Waypoint: received message of unknown type\n");
+        if (debug) qDebug("MissionItem: received message of unknown type\n");
         break;
     }
     }

src/uas/UAS.h

@@ -751,7 +751,7 @@ public slots:
     /** @brief Launches the system **/
     void launch();
     /** @brief Write this waypoint to the list of waypoints */
-    //void setWaypoint(Waypoint* wp); FIXME tbd
+    //void setWaypoint(MissionItem* wp); FIXME tbd
     /** @brief Set currently active waypoint */
     //void setWaypointActive(int id); FIXME tbd
     /** @brief Order the robot to return home **/

src/uas/UASInterface.h

@@ -265,7 +265,7 @@ public slots:
     /** @brief Launches the system/Liftof **/
     virtual void launch() = 0;
     /** @brief Set a new waypoint **/
-    //virtual void setWaypoint(Waypoint* wp) = 0;
+    //virtual void setWaypoint(MissionItem* wp) = 0;
     /** @brief Set this waypoint as next waypoint to fly to */
     //virtual void setWaypointActive(int wp) = 0;
     /** @brief Order the robot to return home / to land on the runway **/

src/uas/UASWaypointManager.h

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QList>
 #include <QTimer>
 #include <QPointer>
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include "QGCMAVLink.h"
 
 class UAS;
@@ -71,7 +71,7 @@ public:
     ~UASWaypointManager();
     bool guidedModeSupported();
 
-    void goToWaypoint(Waypoint *wp);
+    void goToWaypoint(MissionItem *wp);
     /** @name Received message handlers */
     /*@{*/
     void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);                            ///< Handles received waypoint count messages
@@ -92,23 +92,23 @@ public:
     int setCurrentEditable(quint16 seq);          ///< Changes the current waypoint in edit tab
     /*@}*/
 
-    /** @name Waypoint list operations */
+    /** @name MissionItem list operations */
     /*@{*/
-    const QList<Waypoint *> &getWaypointEditableList(void) {
+    const QList<MissionItem *> &getWaypointEditableList(void) {
         return waypointsEditable;    ///< Returns a const reference to the waypoint list.
     }
-    const QList<Waypoint *> &getWaypointViewOnlyList(void) {
+    const QList<MissionItem *> &getWaypointViewOnlyList(void) {
         return waypointsViewOnly;    ///< Returns a const reference to the waypoint list.
     }
-    const QList<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
-    const QList<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
-    const QList<Waypoint *> getNavTypeWaypointList(); ///< Returns a waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
-    int getIndexOf(Waypoint* wp);                   ///< Get the index of a waypoint in the list
-    int getGlobalFrameIndexOf(Waypoint* wp);    ///< Get the index of a waypoint in the list, counting only global waypoints
-    int getGlobalFrameAndNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only global AND navigation mode waypoints
-    int getNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only navigation mode waypoints
-    int getLocalFrameIndexOf(Waypoint* wp);     ///< Get the index of a waypoint in the list, counting only local waypoints
-    int getMissionFrameIndexOf(Waypoint* wp);   ///< Get the index of a waypoint in the list, counting only mission waypoints
+    const QList<MissionItem *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
+    const QList<MissionItem *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
+    const QList<MissionItem *> getNavTypeWaypointList(); ///< Returns a waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
+    int getIndexOf(MissionItem* wp);                   ///< Get the index of a waypoint in the list
+    int getGlobalFrameIndexOf(MissionItem* wp);    ///< Get the index of a waypoint in the list, counting only global waypoints
+    int getGlobalFrameAndNavTypeIndexOf(MissionItem* wp); ///< Get the index of a waypoint in the list, counting only global AND navigation mode waypoints
+    int getNavTypeIndexOf(MissionItem* wp); ///< Get the index of a waypoint in the list, counting only navigation mode waypoints
+    int getLocalFrameIndexOf(MissionItem* wp);     ///< Get the index of a waypoint in the list, counting only local waypoints
+    int getMissionFrameIndexOf(MissionItem* wp);   ///< Get the index of a waypoint in the list, counting only mission waypoints
     int getGlobalFrameCount(); ///< Get the count of global waypoints in the list
     int getGlobalFrameAndNavTypeCount(); ///< Get the count of global waypoints in navigation mode in the list
     int getNavTypeCount(); ///< Get the count of global waypoints in navigation mode in the list
@@ -135,17 +135,17 @@ private:
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
-    /** @name Waypoint list operations */
+    /** @name MissionItem list operations */
     /*@{*/
-    void addWaypointEditable(Waypoint *wp, bool enforceFirstActive=true);                 ///< adds a new waypoint to the end of the editable list and changes its sequence number accordingly
-    void addWaypointViewOnly(Waypoint *wp);                                               ///< adds a new waypoint to the end of the view-only list and changes its sequence number accordingly
-    Waypoint* createWaypoint(bool enforceFirstActive=true);     ///< Creates a waypoint
+    void addWaypointEditable(MissionItem *wp, bool enforceFirstActive=true);                 ///< adds a new waypoint to the end of the editable list and changes its sequence number accordingly
+    void addWaypointViewOnly(MissionItem *wp);                                               ///< adds a new waypoint to the end of the view-only list and changes its sequence number accordingly
+    MissionItem* createWaypoint(bool enforceFirstActive=true);     ///< Creates a waypoint
     int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
     void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
     void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
-    void notifyOfChangeEditable(Waypoint* wp);             ///< Notifies manager to changes to an editable waypoint
-    void notifyOfChangeViewOnly(Waypoint* wp);             ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current"
+    void notifyOfChangeEditable(MissionItem* wp);             ///< Notifies manager to changes to an editable waypoint
+    void notifyOfChangeViewOnly(MissionItem* wp);             ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current"
     /*@}*/
     void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
     void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double altAMSL, double altWGS84, quint64 time);
@@ -153,10 +153,10 @@ public slots:
 signals:
     void waypointEditableListChanged(void);                 ///< emits signal that the list of editable waypoints has been changed
     void waypointEditableListChanged(int uasid);            ///< emits signal that the list of editable waypoints has been changed
-    void waypointEditableChanged(int uasid, Waypoint* wp);  ///< emits signal that a single editable waypoint has been changed
+    void waypointEditableChanged(int uasid, MissionItem* wp);  ///< emits signal that a single editable waypoint has been changed
     void waypointViewOnlyListChanged(void);                 ///< emits signal that the list of editable waypoints has been changed
     void waypointViewOnlyListChanged(int uasid);            ///< emits signal that the list of editable waypoints has been changed
-    void waypointViewOnlyChanged(int uasid, Waypoint* wp);  ///< emits signal that a single editable waypoint has been changed
+    void waypointViewOnlyChanged(int uasid, MissionItem* wp);  ///< emits signal that a single editable waypoint has been changed
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
     void waypointDistanceChanged(double distance);   ///< Distance to next waypoint changed (in meters)
@@ -182,9 +182,9 @@ private:
     quint8 current_partner_compid;                  ///< The current protocol communication target component
     bool read_to_edit;                              ///< If true, after readWaypoints() incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab.
 
-    QList<Waypoint *> waypointsViewOnly;                  ///< local copy of current waypoint list on MAV
-    QList<Waypoint *> waypointsEditable;                  ///< local editable waypoint list
-    QPointer<Waypoint> currentWaypointEditable;                      ///< The currently used waypoint
+    QList<MissionItem *> waypointsViewOnly;                  ///< local copy of current waypoint list on MAV
+    QList<MissionItem *> waypointsEditable;                  ///< local editable waypoint list
+    QPointer<MissionItem> currentWaypointEditable;                      ///< The currently used waypoint
     QList<mavlink_mission_item_t *> waypoint_buffer;  ///< buffer for waypoints during communication
     QTimer protocol_timer;                          ///< Timer to catch timeouts
     QTimer _updateWPlist_timer;                     ///< update WP list if modified by another instance onboard

src/ui/HSIDisplay.cc

@@ -41,7 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "HomePositionManager.h"
 #include "HSIDisplay.h"
 #include "QGC.h"
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include "UASWaypointManager.h"
 #include <qmath.h>
 #include "MAV2DIcon.h"
@@ -1291,7 +1291,7 @@ void HSIDisplay::drawSetpointXYZYaw(float x, float y, float z, float yaw, const
     }
 }
 
-void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float width, const Waypoint *w, const QPointF& p)
+void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float width, const MissionItem *w, const QPointF& p)
 {
     painter.setBrush(Qt::NoBrush);
 
@@ -1334,7 +1334,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
     if (uas)
     {
         // Grab all waypoints.
-        const QList<Waypoint*>& list = uas->getWaypointManager()->getWaypointEditableList();
+        const QList<MissionItem*>& list = uas->getWaypointManager()->getWaypointEditableList();
         const int numWaypoints = list.size();
 
         // Do not work on empty lists
@@ -1349,7 +1349,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
         QPointF lastWaypoint;
         for (int i = 0; i < numWaypoints; i++)
         {
-            const Waypoint *w = list.at(i);
+            const MissionItem *w = list.at(i);
             QPointF in;
             // Use local coordinates as-is.
             int frameRef = w->getFrame();

src/ui/HSIDisplay.h

@@ -200,7 +200,7 @@ protected slots:
     /** @brief Draw waypoints of this system */
     void drawWaypoints(QPainter& painter);
     /** @brief Draw one waypoint */
-    void drawWaypoint(QPainter& painter, const QColor& color, float width, const Waypoint *w, const QPointF& p);
+    void drawWaypoint(QPainter& painter, const QColor& color, float width, const MissionItem *w, const QPointF& p);
     /** @brief Draw the limiting safety area */
     void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight,  const QColor &color, QPainter &painter);
     /** @brief Receive mouse clicks */

src/ui/MainWindow.cc

@@ -441,14 +441,6 @@ void MainWindow::_buildPlanView(void)
     }
 }
 
-void MainWindow::_buildExperimentalPlanView(void)
-{
-    if (!_experimentalPlanView) {
-        _experimentalPlanView = new QGCMapDisplay(this);
-        _experimentalPlanView->setVisible(false);
-    }
-}
-
 void MainWindow::_buildFlightView(void)
 {
     if (!_flightView) {
@@ -725,7 +717,6 @@ void MainWindow::connectCommonActions()
     perspectives->addAction(_ui.actionSimulationView);
     perspectives->addAction(_ui.actionPlan);
     perspectives->addAction(_ui.actionSetup);
-    perspectives->addAction(_ui.actionExperimentalPlanView);
     perspectives->setExclusive(true);
 
     // Mark the right one as selected
@@ -749,11 +740,6 @@ void MainWindow::connectCommonActions()
         _ui.actionPlan->setChecked(true);
         _ui.actionPlan->activate(QAction::Trigger);
     }
-    if (_currentView == VIEW_EXPERIMENTAL_PLAN)
-    {
-        _ui.actionExperimentalPlanView->setChecked(true);
-        _ui.actionExperimentalPlanView->activate(QAction::Trigger);
-    }
     if (_currentView == VIEW_SETUP)
     {
         _ui.actionSetup->setChecked(true);
@@ -772,7 +758,6 @@ void MainWindow::connectCommonActions()
     connect(_ui.actionSimulationView, SIGNAL(triggered()), this, SLOT(loadSimulationView()));
     connect(_ui.actionAnalyze, SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
     connect(_ui.actionPlan, SIGNAL(triggered()), this, SLOT(loadPlanView()));
-    connect(_ui.actionExperimentalPlanView, SIGNAL(triggered()), this, SLOT(loadOldPlanView()));
 
     // Help Actions
     connect(_ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
@@ -926,12 +911,6 @@ void MainWindow::_loadCurrentViewState(void)
             defaultWidgets = "WAYPOINT_LIST_DOCKWIDGET";
             break;
 
-        case VIEW_EXPERIMENTAL_PLAN:
-            _buildExperimentalPlanView();
-            centerView = _experimentalPlanView;
-            defaultWidgets.clear();
-            break;
-
         case VIEW_SIMULATION:
             _buildSimView();
             centerView = _simView;
@@ -1034,17 +1013,6 @@ void MainWindow::loadPlanView()
     }
 }
 
-void MainWindow::loadOldPlanView()
-{
-    if (_currentView != VIEW_EXPERIMENTAL_PLAN)
-    {
-        _storeCurrentViewState();
-        _currentView = VIEW_EXPERIMENTAL_PLAN;
-        _ui.actionExperimentalPlanView->setChecked(true);
-        _loadCurrentViewState();
-    }
-}
-
 void MainWindow::loadSetupView()
 {
     if (_currentView != VIEW_SETUP)

src/ui/MainWindow.h

@@ -143,8 +143,6 @@ public slots:
     void loadAnalyzeView();
     /** @brief Load New (QtQuick) Map View (Mission) */
     void loadPlanView();
-    /** @brief Load Old (Qt Widget) Map View (Mission) */
-    void loadOldPlanView();
     /** @brief Manage Links */
     void manageLinks();
 
@@ -215,7 +213,6 @@ protected:
         VIEW_SETUP,             // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
         VIEW_UNUSED1,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_UNUSED2,           // Unused (don't remove, or it will screw up saved settigns indices)
-        VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
     } VIEW_SECTIONS;
 
     /** @brief Catch window resize events */
@@ -293,7 +290,6 @@ private:
 
     // Center widgets
     QPointer<QWidget> _planView;
-    QPointer<QWidget> _experimentalPlanView;
     QPointer<QWidget> _flightView;
     QPointer<QWidget> _setupView;
     QPointer<QWidget> _analyzeView;
@@ -322,7 +318,6 @@ private:
     QMap<QDockWidget*, QAction*>    _mapDockWidget2Action;
 
     void _buildPlanView(void);
-    void _buildExperimentalPlanView(void);
     void _buildFlightView(void);
     void _buildSetupView(void);
     void _buildAnalyzeView(void);

src/ui/MainWindow.ui

@@ -243,11 +243,6 @@
     <string>Show Status Bar</string>
    </property>
   </action>
-  <action name="actionExperimentalPlanView">
-   <property name="text">
-    <string>Experimental Plan View</string>
-   </property>
-  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/WaypointEditableView.cc

@@ -36,7 +36,7 @@
 #include "mission/QGCMissionOther.h"
 
 
-WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
+WaypointEditableView::WaypointEditableView(MissionItem* wp, QWidget* parent) :
     QWidget(parent),
     wp(wp),
     viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DEFAULT),
@@ -67,7 +67,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
 
 
     // add actions
-    m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
+    m_ui->comboBox_action->addItem(tr("NAV: MissionItem"),MAV_CMD_NAV_WAYPOINT);
     m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
     m_ui->comboBox_action->addItem(tr("NAV: Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
     m_ui->comboBox_action->addItem(tr("NAV: Loiter Time"),MAV_CMD_NAV_LOITER_TIME);

src/ui/WaypointEditableView.h

@@ -34,7 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #define WAYPOINTEDITABLEVIEW_H
 
 #include <QWidget>
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include <iostream>
 
 enum QGC_WAYPOINTEDITABLEVIEW_MODE {
@@ -65,7 +65,7 @@ class WaypointEditableView : public QWidget
     Q_OBJECT
     Q_DISABLE_COPY(WaypointEditableView)
 public:
-    explicit WaypointEditableView(Waypoint* wp, QWidget* parent);
+    explicit WaypointEditableView(MissionItem* wp, QWidget* parent);
     virtual ~WaypointEditableView();
 
 public:
@@ -75,7 +75,7 @@ public slots:
     void moveUp();
     void moveDown();
     void remove();
-    /** @brief Waypoint matching this widget has been deleted */
+    /** @brief MissionItem matching this widget has been deleted */
     void deleted(QObject* waypoint);
     void changedAutoContinue(int);
     void changedFrame(int state);
@@ -99,7 +99,7 @@ protected slots:
 protected:
     virtual void changeEvent(QEvent *e);
     virtual void paintEvent(QPaintEvent *);
-    Waypoint* wp;
+    MissionItem* wp;
     QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
     // Widgets for every mission element
     QGCMissionNavWaypoint* MissionNavWaypointWidget;
@@ -121,9 +121,9 @@ private:
     Ui::WaypointEditableView *m_ui;
 
 signals:
-    void moveUpWaypoint(Waypoint*);
-    void moveDownWaypoint(Waypoint*);
-    void removeWaypoint(Waypoint*);
+    void moveUpWaypoint(MissionItem*);
+    void moveDownWaypoint(MissionItem*);
+    void removeWaypoint(MissionItem*);
     void changeCurrentWaypoint(quint16);
     void setYaw(double);
 

src/ui/WaypointList.h

@@ -38,7 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QMap>
 #include <QVBoxLayout>
 #include <QTimer>
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include "UASInterface.h"
 #include "WaypointEditableView.h"
 #include "WaypointViewOnlyView.h"
@@ -62,7 +62,7 @@ public slots:
 
     void setUAS(UASInterface* uas);
 
-    //Waypoint list operations
+    //MissionItem list operations
     /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
     /** @brief Load a waypoint list from a file */
@@ -91,9 +91,9 @@ public slots:
     /** @brief Current waypoint on UAV was changed, update view-tab  */
     void currentWaypointViewOnlyChanged(quint16 seq);
     /** @brief The waypoint manager informs that one editable waypoint was changed */
-    void updateWaypointEditable(int uas, Waypoint* wp);
+    void updateWaypointEditable(int uas, MissionItem* wp);
     /** @brief The waypoint manager informs that one viewonly waypoint was changed */
-    void updateWaypointViewOnly(int uas, Waypoint* wp);
+    void updateWaypointViewOnly(int uas, MissionItem* wp);
     /** @brief The waypoint manager informs that the editable waypoint list was changed */
     void waypointEditableListChanged(void);
     /** @brief The waypoint manager informs that the waypoint list on the MAV was changed */
@@ -104,12 +104,12 @@ public slots:
 
     void clearWPWidget();
 
-    //void changeWPPositionBySpinBox(Waypoint* wp);
+    //void changeWPPositionBySpinBox(MissionItem* wp);
 
-    // Waypoint operations
-    void moveUp(Waypoint* wp);
-    void moveDown(Waypoint* wp);
-    void removeWaypoint(Waypoint* wp);
+    // MissionItem operations
+    void moveUp(MissionItem* wp);
+    void moveDown(MissionItem* wp);
+    void removeWaypoint(MissionItem* wp);
 
 //    void setIsLoadFileWP();
 //    void setIsReadGlobalWP(bool value);
@@ -125,8 +125,8 @@ protected:
     virtual void changeEvent(QEvent *e);
 
 protected:
-    QMap<Waypoint*, WaypointEditableView*> wpEditableViews;
-    QMap<Waypoint*, WaypointViewOnlyView*> wpViewOnlyViews;
+    QMap<MissionItem*, WaypointEditableView*> wpEditableViews;
+    QMap<MissionItem*, WaypointViewOnlyView*> wpViewOnlyViews;
     QVBoxLayout* viewOnlyListLayout;
     QVBoxLayout* editableListLayout;
     UASInterface* uas;

src/ui/WaypointViewOnlyView.cc

@@ -4,7 +4,7 @@
 #include "WaypointViewOnlyView.h"
 #include "ui_WaypointViewOnlyView.h"
 
-WaypointViewOnlyView::WaypointViewOnlyView(Waypoint* wp, QWidget *parent) :
+WaypointViewOnlyView::WaypointViewOnlyView(MissionItem* wp, QWidget *parent) :
     QWidget(parent),
     wp(wp),
     m_ui(new Ui::WaypointViewOnlyView)

src/ui/WaypointViewOnlyView.h

@@ -2,7 +2,7 @@
 #define WAYPOINTVIEWONLYVIEW_H
 
 #include <QWidget>
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include <iostream>
 
 namespace Ui {
@@ -14,7 +14,7 @@ class WaypointViewOnlyView : public QWidget
     Q_OBJECT
 
 public:
-    explicit WaypointViewOnlyView(Waypoint* wp, QWidget *parent = 0);
+    explicit WaypointViewOnlyView(MissionItem* wp, QWidget *parent = 0);
     ~WaypointViewOnlyView();
 
 public slots:
@@ -28,7 +28,7 @@ signals:
     void changeAutoContinue(quint16, bool);
 
 protected:
-    Waypoint* wp;
+    MissionItem* wp;
     virtual void changeEvent(QEvent *e);
     virtual void paintEvent(QPaintEvent *);
 

src/ui/map/QGCMapWidget.cc

@@ -28,10 +28,10 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     waypointLines.insert(0, new QGraphicsItemGroup(map));
     
     connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
-    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+    connect(currWPManager, SIGNAL(waypointEditableChanged(int, MissionItem*)), this, SLOT(updateWaypoint(int,MissionItem*)));
     
-    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
-    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    connect(this, SIGNAL(waypointCreated(MissionItem*)), currWPManager, SLOT(addWaypointEditable(MissionItem*)));
+    connect(this, SIGNAL(waypointChanged(MissionItem*)), currWPManager, SLOT(notifyOfChangeEditable(MissionItem*)));
     
     offlineMode = true;
     // Widget is inactive until shown
@@ -87,7 +87,7 @@ void QGCMapWidget::guidedActionTriggered()
         // Create new waypoint and send it to the WPManager to send out.
         internals::PointLatLng pos = map->FromLocalToLatLng(contextMousePressPos.x(), contextMousePressPos.y());
         qDebug() << "Guided action requested. Lat:" << pos.Lat() << "Lon:" << pos.Lng();
-        Waypoint wp;
+        MissionItem wp;
         wp.setLatitude(pos.Lat());
         wp.setLongitude(pos.Lng());
         wp.setAltitude(defaultGuidedAlt);
@@ -323,7 +323,7 @@ void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
     {
         // Create new waypoint
         internals::PointLatLng pos = map->FromLocalToLatLng(event->pos().x(), event->pos().y());
-        Waypoint* wp = currWPManager->createWaypoint();
+        MissionItem* wp = currWPManager->createWaypoint();
         wp->setLatitude(pos.Lat());
         wp->setLongitude(pos.Lng());
         wp->setFrame((MAV_FRAME)currWPManager->getFrameRecommendation());
@@ -364,9 +364,9 @@ void QGCMapWidget::_activeVehicleChanged(Vehicle* vehicle)
     {
         // Disconnect the waypoint manager / data storage from the UI
         disconnect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
-        disconnect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
-        disconnect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
-        disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+        disconnect(currWPManager, SIGNAL(waypointEditableChanged(int, MissionItem*)), this, SLOT(updateWaypoint(int,MissionItem*)));
+        disconnect(this, SIGNAL(waypointCreated(MissionItem*)), currWPManager, SLOT(addWaypointEditable(MissionItem*)));
+        disconnect(this, SIGNAL(waypointChanged(MissionItem*)), currWPManager, SLOT(notifyOfChangeEditable(MissionItem*)));
     }
 
     // Attach the new waypoint manager if a new UAS was selected. Otherwise, indicate
@@ -383,9 +383,9 @@ void QGCMapWidget::_activeVehicleChanged(Vehicle* vehicle)
 
         // Connect the waypoint manager / data storage to the UI
         connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)), Qt::UniqueConnection);
-        connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)), Qt::UniqueConnection);
-        connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)), Qt::UniqueConnection);
-        connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)), Qt::UniqueConnection);
+        connect(currWPManager, SIGNAL(waypointEditableChanged(int, MissionItem*)), this, SLOT(updateWaypoint(int,MissionItem*)), Qt::UniqueConnection);
+        connect(this, SIGNAL(waypointCreated(MissionItem*)), currWPManager, SLOT(addWaypointEditable(MissionItem*)), Qt::UniqueConnection);
+        connect(this, SIGNAL(waypointChanged(MissionItem*)), currWPManager, SLOT(notifyOfChangeEditable(MissionItem*)), Qt::UniqueConnection);
 
         if (!mapPositionInitialized) {
             internals::PointLatLng pos_lat_lon = internals::PointLatLng(_uas->getLatitude(), _uas->getLongitude());
@@ -627,7 +627,7 @@ void QGCMapWidget::cacheVisibleRegion()
 void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
 {
     // Block circle updates
-    Waypoint* wp = iconsToWaypoints.value(waypoint, NULL);
+    MissionItem* wp = iconsToWaypoints.value(waypoint, NULL);
 
     // Delete UI element if wp doesn't exist
     if (!wp)
@@ -665,7 +665,7 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
  * This function is called if a a single waypoint is updated and
  * also if the whole list changes.
  */
-void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
+void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp)
 {
     //qDebug() << __FILE__ << __LINE__ << "UPDATING WP FUNCTION CALLED";
     // Source of the event was in this widget, do nothing
@@ -710,8 +710,8 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
                 if (wpindex > 0)
                 {
                     // Get predecessor of this WP
-                    QList<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
-                    Waypoint* wp1 = wps.at(wpindex-1);
+                    QList<MissionItem* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
+                    MissionItem* wp1 = wps.at(wpindex-1);
                     mapcontrol::WayPointItem* prevIcon = waypointsToIcons.value(wp1, NULL);
                     // If we got a valid graphics item, continue
                     if (prevIcon)
@@ -729,7 +729,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
             }
             else
             {
-                // Waypoint exists, block it's signals and update it
+                // MissionItem exists, block it's signals and update it
                 mapcontrol::WayPointItem* icon = waypointsToIcons.value(wp);
                 // Make sure we don't die on a null pointer
                 // this should never happen, just a precaution
@@ -747,7 +747,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
                 }
                 else
                 {
-                    // Use safe standard interfaces for non Waypoint-class based wps
+                    // Use safe standard interfaces for non MissionItem-class based wps
                     icon->SetCoord(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()));
                     icon->SetAltitude(wp->getAltitude());
                     icon->SetHeading(wp->getYaw());
@@ -804,8 +804,8 @@ void QGCMapWidget::updateWaypointList(int uas)
 
         // Delete first all old waypoints
         // this is suboptimal (quadratic, but wps should stay in the sub-100 range anyway)
-        QList<Waypoint* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
-        foreach (Waypoint* wp, waypointsToIcons.keys())
+        QList<MissionItem* > wps = currWPManager->getGlobalFrameAndNavTypeWaypointList();
+        foreach (MissionItem* wp, waypointsToIcons.keys())
         {
             if (!wps.contains(wp))
             {
@@ -818,14 +818,14 @@ void QGCMapWidget::updateWaypointList(int uas)
         }
 
         // Update all existing waypoints
-        foreach (Waypoint* wp, waypointsToIcons.keys())
+        foreach (MissionItem* wp, waypointsToIcons.keys())
         {
             // Update remaining waypoints
             updateWaypoint(uas, wp);
         }
 
         // Update all potentially new waypoints
-        foreach (Waypoint* wp, wps)
+        foreach (MissionItem* wp, wps)
         {
             qDebug() << "UPDATING NEW WP" << wp->getId();
             // Update / add only if new
@@ -834,7 +834,7 @@ void QGCMapWidget::updateWaypointList(int uas)
 
         // Add line element if this is NOT the first waypoint
         mapcontrol::WayPointItem* prevIcon = NULL;
-        foreach (Waypoint* wp, wps)
+        foreach (MissionItem* wp, wps)
         {
             mapcontrol::WayPointItem* currIcon = waypointsToIcons.value(wp, NULL);
             // Do not work on first waypoint, but only increment counter

src/ui/map/QGCMapWidget.h

@@ -14,7 +14,7 @@
 
 class UASInterface;
 class UASWaypointManager;
-class Waypoint;
+class MissionItem;
 typedef mapcontrol::WayPointItem WayPointItem;
 
 /**
@@ -43,8 +43,8 @@ public:
 signals:
     void homePositionChanged(double latitude, double longitude, double altitude);
     /** @brief Signal for newly created map waypoints */
-    void waypointCreated(Waypoint* wp);
-    void waypointChanged(Waypoint* wp);
+    void waypointCreated(MissionItem* wp);
+    void waypointChanged(MissionItem* wp);
 
 public slots:
     /** @brief Action triggered when guided action is selected from the context menu */
@@ -68,7 +68,7 @@ public slots:
     /** @brief Jump to the home position on the map */
     void goHome();
     /** @brief Update this waypoint for this UAS */
-    void updateWaypoint(int uas, Waypoint* wp);
+    void updateWaypoint(int uas, MissionItem* wp);
     /** @brief Update the whole waypoint */
     void updateWaypointList(int uas);
     /** @brief Update the home position on the map */
@@ -149,9 +149,9 @@ protected:
 
     UASWaypointManager* currWPManager; ///< The current waypoint manager
     bool offlineMode;
-    QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
-    QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
-    Waypoint* firingWaypointChange;
+    QMap<MissionItem* , mapcontrol::WayPointItem*> waypointsToIcons;
+    QMap<mapcontrol::WayPointItem*, MissionItem*> iconsToWaypoints;
+    MissionItem* firingWaypointChange;
     QTimer updateTimer;
     float maxUpdateInterval;
     enum editMode {

src/ui/map/Waypoint2DIcon.cc

@@ -24,7 +24,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
     drawIcon();
 }
 
-Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius)
+Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, MissionItem* wp, const QColor& color, int listindex, int radius)
     : mapcontrol::WayPointItem(internals::PointLatLng(wp->getLatitude(), wp->getLongitude()), wp->getAltitude(), wp->getDescription(), map),
     parent(parent),
     waypoint(wp),

src/ui/map/Waypoint2DIcon.h

@@ -3,7 +3,7 @@
 
 #include <QGraphicsItem>
 
-#include "Waypoint.h"
+#include "MissionItem.h"
 #include "opmapcontrol.h"
 
 class Waypoint2DIcon : public mapcontrol::WayPointItem
@@ -19,10 +19,10 @@ public:
 
     /**
      *
-     * @param wp Waypoint
+     * @param wp MissionItem
      * @param radius the radius of the circle
      */
-    Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, Waypoint* wp, const QColor& color, int listindex, int radius = 31);
+    Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, MissionItem* wp, const QColor& color, int listindex, int radius = 31);
 
     virtual ~Waypoint2DIcon();
 
@@ -42,7 +42,7 @@ public:
 
 protected:
     mapcontrol::OPMapWidget* parent; ///< Parent widget
-    QPointer<Waypoint> waypoint;   ///< Waypoint data container this icon represents
+    QPointer<MissionItem> waypoint;   ///< MissionItem data container this icon represents
     int radius;           ///< Radius / diameter of the icon in pixels
     bool showAcceptanceRadius;
     bool showOrbit;

src/ui/mapdisplay/MapDisplay.qml

@@ -101,7 +101,7 @@ Rectangle {
             }
         }
         //----------------------------------------------------------------------------------------
-        // Waypoint Editor
+        // MissionItem Editor
         QGCWaypointEditor {
             id:                  waypointEditor
             Layout.minimumWidth: 200