waypoints working

src/uas/UAS.cc

@@ -449,11 +449,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
         case MAVLINK_MSG_ID_WAYPOINT_REACHED:
             {
-//                mavlink_waypoint_reached_t wp;
-//                mavlink_msg_waypoint_reached_decode(&message, &wp);
-//                emit waypointReached(this, wp.id);
+                mavlink_waypoint_reached_t wpr;
+                mavlink_msg_waypoint_reached_decode(&message, &wpr);
+                waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
             }
             break;
+
+        case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
+            {
+                mavlink_waypoint_set_current_t wpsc;
+                mavlink_msg_waypoint_set_current_decode(&message, &wpsc);
+                waypointManager.handleWaypointSetCurrent(message.sysid, message.compid, &wpsc);
+            }
+            break;
+
         case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
             {
                 mavlink_local_position_setpoint_t p;
@@ -461,6 +470,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
             }
             break;
+
         case MAVLINK_MSG_ID_STATUSTEXT:
             {
                 QByteArray b;

src/uas/UASWaypointManager.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 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 Implementation of the waypoint protocol handler
+ *
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "UASWaypointManager.h"
 #include "UAS.h"
 
+#define PROTOCOL_TIMEOUT_MS 2000
+
 UASWaypointManager::UASWaypointManager(UAS &_uas)
         : uas(_uas),
         current_wp_id(0),
         current_count(0),
         current_state(WP_IDLE),
         current_partner_systemid(0),
-        current_partner_compid(0)
+        current_partner_compid(0),
+        protocol_timer(this)
+{
+    connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
+}
+
+void UASWaypointManager::timeout()
 {
+    protocol_timer.stop();
+
+    qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
+
+    emit updateStatusString("Operation timed out.");
+
+    current_state = WP_IDLE;
+    current_count = 0;
+    current_wp_id = 0;
+    current_partner_systemid = 0;
+    current_partner_compid = 0;
 }
 
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
     {
         qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
@@ -35,6 +87,8 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
     {
         if(wp->seq == current_wp_id)
@@ -58,6 +112,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_partner_systemid = 0;
                 current_partner_compid = 0;
 
+                protocol_timer.stop();
                 emit updateStatusString("done.");
 
                 qDebug() << "got all waypoints from ID " << systemId;
@@ -72,6 +127,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
 {
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
     if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)) || (current_state == WP_IDLE && wpr->seq == current_count-1)))
     {
         qDebug() << "handleWaypointRequest";
@@ -87,6 +144,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
                 //all waypoints sent, but we still have to wait for a possible rerequest of the last waypoint
                 current_state = WP_IDLE;
 
+                protocol_timer.stop();
                 emit updateStatusString("done.");
 
                 qDebug() << "send all waypoints to ID " << systemId;
@@ -99,17 +157,24 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
     }
 }
 
-void UASWaypointManager::clearWaypointList()
+void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr)
 {
-
+    if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
+    {
+        emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq));
+    }
 }
 
-void UASWaypointManager::currentWaypointChanged(quint16)
+void UASWaypointManager::handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr)
 {
-
+    if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
+    {
+        qDebug() << "new current waypoint" << wpr->seq;
+        emit currentWaypointChanged(wpr->seq);
+    }
 }
 
-void UASWaypointManager::removeWaypointId(quint16)
+void UASWaypointManager::clearWaypointList()
 {
 
 }
@@ -118,6 +183,8 @@ void UASWaypointManager::requestWaypoints()
 {
     if(current_state == WP_IDLE)
     {
+        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
         mavlink_message_t message;
         mavlink_waypoint_request_list_t wprl;
 
@@ -145,6 +212,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
     {
         if (list.count() > 0)
         {
+            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+
             current_count = list.count();
             current_state = WP_SENDLIST;
             current_wp_id = 0;
@@ -240,8 +309,3 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
         qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
 }
-
-void UASWaypointManager::waypointChanged(Waypoint*)
-{
-
-}

src/uas/UASWaypointManager.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 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 Definition of the waypoint protocol handler
+ *
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef UASWAYPOINTMANAGER_H
 #define UASWAYPOINTMANAGER_H
 
 #include <QObject>
 #include <QVector>
+#include <QTimer>
 #include "Waypoint.h"
 #include <mavlink.h>
 class UAS;
@@ -25,22 +57,23 @@ public:
     void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);
     void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);
     void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);
+    void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
+    void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
 
 private:
     void sendWaypointRequest(quint16 seq);
     void sendWaypoint(quint16 seq);
 
 public slots:
+    void timeout();
     void clearWaypointList();
-    void currentWaypointChanged(quint16);
-    void removeWaypointId(quint16);
     void requestWaypoints();
     void sendWaypoints(const QVector<Waypoint *> &list);
-    void waypointChanged(Waypoint*);
 
 signals:
     void waypointUpdated(int,quint16,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
-    void updateStatusString(const QString &);                                   ///< updates the current status string
+    void currentWaypointChanged(quint16);                                       ///< emits the new current waypoint sequence number
+    void updateStatusString(const QString &);                                   ///< emits the current status string
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
@@ -51,6 +84,7 @@ private:
     quint8 current_partner_compid;                  ///< The current protocol communication target component
 
     QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< communication buffer for waypoints
+    QTimer protocol_timer;                          ///< Timer to catch timeouts
 };
 
 #endif // UASWAYPOINTMANAGER_H

src/ui/WaypointList.cc

@@ -45,8 +45,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 {
     m_ui->setupUi(this);
 
-    transmitDelay = new QTimer(this);
-
     listLayout = new QVBoxLayout(m_ui->listWidget);
     listLayout->setSpacing(6);
     listLayout->setMargin(0);
@@ -73,7 +71,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
-    connect(transmitDelay, SIGNAL(timeout()), this, SLOT(reenableTransmit()));
 
     // STATUS LABEL
     updateStatusLabel("");
@@ -97,14 +94,14 @@ void WaypointList::setUAS(UASInterface* uas)
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
+
+        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),                                this, SLOT(updateStatusLabel(const QString &)));
         connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
-        //connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
-        //connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(quint16)));
+        connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),                                    this, SLOT(currentWaypointChanged(quint16)));
+
         connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)),    &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
         connect(this, SIGNAL(requestWaypoints()),                           &uas->getWaypointManager(), SLOT(requestWaypoints()));
         connect(this, SIGNAL(clearWaypointList()),                          &uas->getWaypointManager(), SLOT(clearWaypointList()));
-
-        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
     }
 }
 
@@ -112,7 +109,6 @@ void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double
 {
     if (uasId == this->uas->getUASID())
     {
-        transmitDelay->start(1000);
         Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
         addWaypoint(wp);
     }
@@ -123,34 +119,30 @@ void WaypointList::waypointReached(UASInterface* uas, quint16 waypointId)
     Q_UNUSED(uas);
     qDebug() << "Waypoint reached: " << waypointId;
 
-    /*if (waypoints.size() > waypointId)
+    updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
+}
+
+void WaypointList::currentWaypointChanged(quint16 seq)
+{
+    if (seq < waypoints.size())
     {
-        if (waypoints[waypointId]->autocontinue == true)
+        for(int i = 0; i < waypoints.size(); i++)
         {
+            WaypointView* widget = wpViews.find(waypoints[i]).value();
 
-            for(int i = 0; i < waypoints.size(); i++)
+            if (waypoints[i]->getId() == seq)
             {
-                if (i == waypointId+1)
-                {
-                    waypoints[i]->current = true;
-                    WaypointView* widget = wpViews.find(waypoints[i]).value();
-                    widget->setCurrent();
-                }
-                else
-                {
-                    if (waypoints[i]->current)
-                    {
-                        waypoints[i]->current = false;
-                        WaypointView* widget = wpViews.find(waypoints[i]).value();
-                        widget->removeCurrentCheck();
-                    }
-                }
+                waypoints[i]->setCurrent(true);
+                widget->setCurrent(true);
+            }
+            else
+            {
+                waypoints[i]->setCurrent(false);
+                widget->setCurrent(false);
             }
-            redrawList();
-
-            qDebug() << "NEW WAYPOINT SET";
         }
-    }*/
+        redrawList();
+    }
 }
 
 void WaypointList::read()
@@ -165,9 +157,6 @@ void WaypointList::read()
 
 void WaypointList::transmit()
 {
-    transmitDelay->start(1000);
-    m_ui->transmitButton->setEnabled(false);
-
     emit sendWaypoints(waypoints);
     //emit requestWaypoints(); FIXME
 }
@@ -199,8 +188,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
         connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
         connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
-        connect(wpview, SIGNAL(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
-        //connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
+        connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
     }
 }
 
@@ -292,28 +280,6 @@ void WaypointList::removeWaypoint(Waypoint* wp)
     }
 }
 
-void WaypointList::setCurrentWaypoint(Waypoint* wp)
-{
-    for(int i = 0; i < waypoints.size(); i++)
-    {
-        if (waypoints[i] == wp)
-        {
-            waypoints[i]->setCurrent(true);
-            // Retransmit waypoint
-            //uas->getWaypointManager().setWaypointActive(i);
-        }
-        else
-        {
-            if (waypoints[i]->getCurrent())
-            {
-                waypoints[i]->setCurrent(false);
-                WaypointView* widget = wpViews.find(waypoints[i]).value();
-                widget->removeCurrentCheck();
-            }
-        }
-    }
-}
-
 void WaypointList::changeEvent(QEvent *e)
 {
     switch (e->type()) {
@@ -325,11 +291,6 @@ void WaypointList::changeEvent(QEvent *e)
     }
 }
 
-void WaypointList::reenableTransmit()
-{
-    m_ui->transmitButton->setEnabled(true);
-}
-
 void WaypointList::saveWaypoints()
 {
     QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));

src/ui/WaypointList.h

@@ -56,7 +56,6 @@ class WaypointList : public QWidget {
 public slots:
     void setUAS(UASInterface* uas);
     void redrawList();
-    void reenableTransmit();
 
     //UI Buttons
     void saveWaypoints();
@@ -66,36 +65,33 @@ public slots:
     void add();
     void moveUp(Waypoint* wp);
     void moveDown(Waypoint* wp);
-    void setCurrentWaypoint(Waypoint* wp);
 
     /** @brief sets statusLabel string */
     void updateStatusLabel(const QString &string);
 
+    void currentWaypointChanged(quint16 seq);
+
     //To be moved to UASWaypointManager (?)
     void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
     void addWaypoint(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
     void waypointReached(UASInterface* uas, quint16 waypointId);
 
+signals:
+    void sendWaypoints(const QVector<Waypoint*> &);
+    void requestWaypoints();
+    void clearWaypointList();
+
 protected:
     virtual void changeEvent(QEvent *e);
 
     QVector<Waypoint*> waypoints;
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
-    QTimer* transmitDelay;
     UASInterface* uas;
 
 private:
     Ui::WaypointList *m_ui;
-
-signals:
-    //void waypointChanged(Waypoint*);
-    //void currentWaypointChanged(int);
-    //void removeWaypointId(int);
-    void sendWaypoints(const QVector<Waypoint*> &);
-    void requestWaypoints();
-    void clearWaypointList();
 };
 
 #endif // WAYPOINTLIST_H

src/ui/WaypointView.cc

@@ -34,6 +34,8 @@ This file is part of the PIXHAWK project
 #include <QDoubleSpinBox>
 #include <QDebug>
 
+#include <cmath>    //M_PI
+
 #include "WaypointView.h"
 #include "ui_WaypointView.h"
 
@@ -49,7 +51,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->xSpinBox->setValue(wp->getX());
     m_ui->ySpinBox->setValue(wp->getY());
     m_ui->zSpinBox->setValue(wp->getZ());
-    m_ui->yawSpinBox->setValue(wp->getYaw());
+    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
     m_ui->selectedBox->setChecked(wp->getCurrent());
     m_ui->autoContinue->setChecked(wp->getAutoContinue());
     m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
@@ -57,14 +59,22 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
-    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setYaw(double)));
+
+    //hidden degree to radian conversion of the yaw angle
+    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
+    connect(this, SIGNAL(setYaw(double)), wp, SLOT(setYaw(double)));
 
     connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
     connect(m_ui->downButton, SIGNAL(clicked()), this, SLOT(moveDown()));
     connect(m_ui->removeButton, SIGNAL(clicked()), this, SLOT(remove()));
 
-    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(setAutoContinue(int)));
-    connect(m_ui->selectedBox, SIGNAL(clicked()), this, SLOT(setCurrent()));
+    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
+    connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
+}
+
+void WaypointView::setYaw(int yawDegree)
+{
+    emit setYaw((double)yawDegree*M_PI/180.);
 }
 
 void WaypointView::moveUp()
@@ -83,26 +93,37 @@ void WaypointView::remove()
     delete this;
 }
 
-void WaypointView::setAutoContinue(int state)
+void WaypointView::changedAutoContinue(int state)
 {
     if (state == 0)
         wp->setAutocontinue(false);
     else
         wp->setAutocontinue(true);
-    emit waypointUpdated(wp);
 }
 
-void WaypointView::removeCurrentCheck()
+void WaypointView::changedCurrent(int state)
 {
-    m_ui->selectedBox->setCheckState(Qt::Unchecked);
+    if (state == 0)
+    {
+        wp->setCurrent(false);
+    }
+    else
+    {
+        wp->setCurrent(true);
+        emit currentWaypointChanged(wp->getId());   //the slot currentWayppointChanged() in WaypointList sets all other current flags to false
+    }
 }
 
-void WaypointView::setCurrent()
+void WaypointView::setCurrent(bool state)
 {
-    if (m_ui->selectedBox->isChecked())
-        emit setCurrentWaypoint(wp);
-    else
+    if (state)
+    {
         m_ui->selectedBox->setCheckState(Qt::Checked);
+    }
+    else
+    {
+         m_ui->selectedBox->setCheckState(Qt::Unchecked);
+    }
 }
 
 WaypointView::~WaypointView()

src/ui/WaypointView.h

@@ -49,15 +49,16 @@ class WaypointView : public QWidget {
     virtual ~WaypointView();
 
 public:
-    void removeCurrentCheck();
+    void setCurrent(bool state);
 
 public slots:
     void moveUp();
     void moveDown();
     void remove();
-    void setAutoContinue(int);
-    void setCurrent();
-    //void setText();
+    void changedAutoContinue(int);
+    void changedCurrent(int);
+
+    void setYaw(int);   //hidden degree to radian conversion
 
 protected:
     virtual void changeEvent(QEvent *e);
@@ -70,9 +71,8 @@ signals:
     void moveUpWaypoint(Waypoint*);
     void moveDownWaypoint(Waypoint*);
     void removeWaypoint(Waypoint*);
-    void setCurrentWaypoint(Waypoint*);
-    void setWaypointText(Waypoint*, QString);
-    void waypointUpdated(Waypoint*);
+    void currentWaypointChanged(quint16);
+    void setYaw(double);
 };
 
 #endif // WAYPOINTVIEW_H

src/ui/WaypointView.ui

@@ -180,9 +180,21 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QLabel" name="idLabel">
+        <property name="minimumSize">
+         <size>
+          <width>15</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Waypoint Sequence Number</string>
+        </property>
         <property name="text">
          <string>TextLabel</string>
         </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
        </widget>
       </item>
       <item>
@@ -200,22 +212,40 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="xSpinBox">
+        <property name="toolTip">
+         <string>Position X coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>100000.000000000000000</double>
         </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
        </widget>
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="ySpinBox">
+        <property name="toolTip">
+         <string>Position Y coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>100000.000000000000000</double>
         </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
         <property name="value">
          <double>0.000000000000000</double>
         </property>
@@ -223,21 +253,36 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QDoubleSpinBox" name="zSpinBox">
+        <property name="toolTip">
+         <string>Position Z coordinate</string>
+        </property>
+        <property name="suffix">
+         <string>m</string>
+        </property>
         <property name="minimum">
          <double>-100000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>0.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
         </property>
        </widget>
       </item>
       <item>
-       <widget class="QDoubleSpinBox" name="yawSpinBox">
-        <property name="minimum">
-         <double>0.000000000000000</double>
+       <widget class="QSpinBox" name="yawSpinBox">
+        <property name="toolTip">
+         <string>Yaw angle</string>
+        </property>
+        <property name="wrapping">
+         <bool>true</bool>
+        </property>
+        <property name="suffix">
+         <string>°</string>
         </property>
         <property name="maximum">
-         <double>360.000000000000000</double>
+         <number>359</number>
         </property>
        </widget>
       </item>
@@ -259,6 +304,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Move Up</string>
+        </property>
         <property name="text">
          <string/>
         </property>
@@ -276,6 +324,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Move Down</string>
+        </property>
         <property name="text">
          <string/>
         </property>
@@ -293,6 +344,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="toolTip">
+         <string>Delete</string>
+        </property>
         <property name="text">
          <string/>
         </property>