First cut at Mission Editor

- Restructured a number of MissionItem properties as well

qgroundcontrol.qrc

@@ -100,6 +100,7 @@
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
         <file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
+        <file alias="QGroundControl/Controls/MissionItemEditor.qml">src/QmlControls/MissionItemEditor.qml</file>
 
         <!-- Vehicle Setup -->
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
@@ -151,7 +152,7 @@
         <file alias="QGroundControl/FlightMap/QGCWaypointEditor.qml">src/FlightMap/Widgets/QGCWaypointEditor.qml</file>
 
         <!-- FlightMap MapQuickItems -->
-        <file alias="QGroundControl/FlightMap/MissionMapItem.qml">src/FlightMap/MapItems/MissionMapItem.qml</file>
+        <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
 
     </qresource>

src/FlightDisplay/FlightDisplayView.qml

@@ -95,8 +95,10 @@ Item {
             model: multiVehicleManager.activeVehicle ? multiVehicleManager.activeVehicle.missionItems : 0
             
             delegate:
-                MissionMapItem {
-                    missionItem: object
+                MissionItemIndicator {
+                    label:          object.sequenceNumber
+                    isCurrentItem:  object.isCurrentItem
+                    coordinate:     object.coordinate
                 }
         }
 

src/FlightMap/FlightMap.qml

@@ -76,13 +76,13 @@ Map {
         Menu {
             id: mapTypeMenu
             title: "Map Type..."
-            enabled: root.visible
+            enabled: _map.visible
             ExclusiveGroup { id: currMapType }
             function setCurrentMap(mapID) {
                 for (var i = 0; i < _map.supportedMapTypes.length; i++) {
                     if (mapID === _map.supportedMapTypes[i].name) {
                         _map.activeMapType = _map.supportedMapTypes[i]
-                        multiVehicleManager.saveSetting(root.mapName + "/currentMapType", mapID);
+                        multiVehicleManager.saveSetting(_map.mapName + "/currentMapType", mapID);
                         return;
                     }
                 }
@@ -100,7 +100,7 @@ Map {
                 var mapID = ''
                 if (_map.supportedMapTypes.length > 0)
                     mapID = _map.activeMapType.name;
-                mapID = multiVehicleManager.loadSetting(root.mapName + "/currentMapType", mapID);
+                mapID = multiVehicleManager.loadSetting(_map.mapName + "/currentMapType", mapID);
                 for (var i = 0; i < _map.supportedMapTypes.length; i++) {
                     var name = _map.supportedMapTypes[i].name;
                     addMap(name, mapID === name);

src/FlightMap/MapItems/MissionMapItem.qml → src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -30,14 +30,14 @@ import QGroundControl.Vehicle       1.0
 
 /// Marker for displaying a mission item on the map
 MapQuickItem {
-    property var missionItem        ///< Mission Item object
+    property alias  label:          _label.label
+    property alias  isCurrentItem:  _label.isCurrentItem
 
     anchorPoint.x:  sourceItem.width  / 2
     anchorPoint.y:  sourceItem.height / 2
-    coordinate:     missionItem.coordinate
 
     sourceItem:
         MissionItemIndexLabel {
-            missionItemIndex: missionItem.id
+            id: _label
         }
 }

src/FlightMap/qmldir

@@ -21,4 +21,4 @@ QGCWaypointEditor       1.0 QGCWaypointEditor.qml
 
 # MapQuickItems
 VehicleMapItem          1.0 VehicleMapItem.qml
-MissionMapItem          1.0 MissionMapItem.qml
+MissionItemIndicator          1.0 MissionItemIndicator.qml

src/MissionEditor/MissionEditor.cc

@@ -73,6 +73,10 @@ QString MissionEditor::loadSetting(const QString &name, const QString& defaultVa
 
 void MissionEditor::addMissionItem(QGeoCoordinate coordinate)
 {
-    MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate.longitude(), coordinate.latitude());
+    MissionItem * newItem = new MissionItem(this, _missionItems.count(), coordinate);
+    if (_missionItems.count() == 0) {
+        newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
+    }
+    qDebug() << "MissionItem" << newItem->coordinate();
     _missionItems.append(newItem);
 }

src/MissionEditor/MissionEditor.qml

@@ -21,10 +21,11 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
-import QtQuick                  2.4
-import QtQuick.Controls         1.3
-import QtQuick.Controls.Styles  1.2
-import QtQuick.Dialogs          1.2
+import QtQuick          2.4
+import QtQuick.Controls 1.3
+import QtQuick.Dialogs  1.2
+import QtLocation       5.3
+import QtPositioning    5.3
 
 import QGroundControl.FlightMap     1.0
 import QGroundControl.ScreenTools   1.0
@@ -32,64 +33,83 @@ import QGroundControl.Controls      1.0
 import QGroundControl.Palette       1.0
 
 /// Mission Editor
+
 Item {
-    id: root
+    // For some reason we can't have FlightMap as the top level control. If you do that it doesn't draw.
+    // So we have an Item at the top to work around that.
 
-    property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
+    readonly property real  _defaultLatitude:   37.803784
+    readonly property real  _defaultLongitude:  -122.462276
+    readonly property int   _decimalPlaces:     7
 
-    property var _activeVehicle: multiVehicleManager.activeVehicle
+    FlightMap {
+        id:             editorMap
+        anchors.fill:   parent
+        mapName:        "MissionEditor"
+        latitude:       _defaultLatitude
+        longitude:      _defaultLongitude
 
-    readonly property real _defaultLatitude:        37.803784
-    readonly property real _defaultLongitude:       -122.462276
+        QGCLabel { text: "WIP: Non functional"; font.pixelSize: ScreenTools.largeFontPixelSize }
 
-    FlightMap {
-        id:                 editorMap
-        anchors.fill:       parent
-        mapName:            "MissionEditor"
-        latitude:           parent._defaultLatitude
-        longitude:          parent._defaultLongitude
 
         MouseArea {
             anchors.fill: parent
 
-            onClicked: controller.addMissionItem(editorMap.mapItem.toCoordinate(Qt.point(mouse.x, mouse.y)))
+            onClicked: {
+                var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
+                coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
+                coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
+                coordinate.altitude = 0
+                controller.addMissionItem(coordinate)
+            }
         }
-    }
 
-    Column {
-        id:                 controlWidgets
-        anchors.margins:    ScreenTools.defaultFontPixelWidth
-        anchors.right:      parent.left
-        anchors.bottom:     parent.top
-        spacing:            ScreenTools.defaultFontPixelWidth / 2
-
-        QGCButton {
-            id:         addMode
-            text:       "+"
-            checkable:  true
+        // Add the mission items to the map
+        MapItemView {
+            model: controller.missionItems
+            
+            delegate:
+                MissionItemIndicator {
+                    label:          object.sequenceNumber
+                    isCurrentItem:  object.isCurrentItem
+                    coordinate:     object.coordinate
+
+                    Component.onCompleted: console.log("Indicator", object.coordinate)
+                }
+        }
+
+        // Mission item list
+        ListView {
+            id:                 missionItemSummaryList
+            anchors.margins:    ScreenTools.defaultFontPixelHeight
+            anchors.top:        parent.top
+            anchors.bottom:     editorMap.mapWidgets.top
+            anchors.right:      parent.right
+            width:              ScreenTools.defaultFontPixelWidth * 30
+            spacing:            ScreenTools.defaultFontPixelHeight / 2
+            orientation:        ListView.Vertical
+            model:              controller.missionItems
+
+            property real _maxItemHeight: 0
+
+            delegate:
+                MissionItemEditor {
+                    missionItem:    object
+                }
         }
-    }
 
-    // Mission item list
-    ListView {
-        id:                 missionItemSummaryList
-        anchors.margins:    ScreenTools.defaultFontPixelWidth
-        anchors.bottom:     parent.bottom
-        width:              parent.width
-        height:             ScreenTools.defaultFontPixelHeight * 7
-        spacing:            ScreenTools.defaultFontPixelWidth / 2
-        opacity:            0.75
-        orientation:        ListView.Horizontal
-        model:              controller.missionItems
-
-        property real _maxItemHeight: 0
-
-        delegate:
-            MissionItemSummary {
-                opacity:        0.75
-                missionItem:    object
-Component.onCompleted: console.log("add", object.id)
+        Column {
+            id:                 controlWidgets
+            anchors.margins:    ScreenTools.defaultFontPixelWidth
+            anchors.right:      parent.left
+            anchors.bottom:     parent.top
+            spacing:            ScreenTools.defaultFontPixelWidth / 2
+
+            QGCButton {
+                id:         addMode
+                text:       "+"
+                checkable:  true
             }
+        }
     }
-
 }

src/MissionItem.h

@@ -39,76 +39,84 @@ class MissionItem : public QObject
     Q_OBJECT
     
 public:
-    MissionItem(
-        QObject *parent = 0,
-        quint16 id = 0,
-        double  x = 0.0,
-        double  y = 0.0,
-        double  z = 0.0,
-        double  param1 = 0.0,
-        double  param2 = 0.0,
-        double  param3 = 0.0,
-        double  param4 = 0.0,
-        bool    autocontinue = true,
-        bool    current = false,
-        int     frame = MAV_FRAME_GLOBAL,
-        int     action = MAV_CMD_NAV_WAYPOINT,
-        const QString& description=QString(""));
+    MissionItem(QObject         *parent = 0,
+                int             sequenceNumber = 0,
+                QGeoCoordinate  coordiante = QGeoCoordinate(),
+                double          param1 = 0.0,
+                double          param2 = 0.0,
+                double          param3 = 0.0,
+                double          param4 = 0.0,
+                bool            autocontinue = true,
+                bool            isCurrentItem = false,
+                int             frame = MAV_FRAME_GLOBAL,
+                int             action = MAV_CMD_NAV_WAYPOINT);
 
     MissionItem(const MissionItem& other);
     ~MissionItem();
 
     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 commandName READ commandName NOTIFY commandNameChanged)
-    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command WRITE setCommand NOTIFY commandChanged)
+    Q_PROPERTY(int              sequenceNumber      READ sequenceNumber         WRITE setSequenceNumber NOTIFY sequenceNumberChanged)
+    Q_PROPERTY(bool             isCurrentItem       READ isCurrentItem          WRITE setIsCurrentItem  NOTIFY isCurrentItemChanged)
+    Q_PROPERTY(bool             specifiesCoordinate READ specifiesCoordinate                            NOTIFY specifiesCoordinateChanged)
+    Q_PROPERTY(QGeoCoordinate   coordinate          READ coordinate             WRITE setCoordinate     NOTIFY coordinateChanged)
+    Q_PROPERTY(double           yaw                 READ yaw                    WRITE setYaw            NOTIFY yawChanged)
+    Q_PROPERTY(QStringList      commandNames        READ commandNames                                   CONSTANT)
+    Q_PROPERTY(QString          commandName         READ commandName                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList      valueLabels         READ valueLabels                                    NOTIFY commandChanged)
+    Q_PROPERTY(QStringList      valueStrings        READ valueStrings                                   NOTIFY valueStringsChanged)
+    Q_PROPERTY(int              commandByIndex      READ commandByIndex         WRITE setCommandByIndex NOTIFY commandChanged)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command            WRITE setCommand        NOTIFY commandChanged)
+    
+    // Property accesors
+    
+    int sequenceNumber(void) const { return _sequenceNumber; }
+    void setSequenceNumber(int sequenceNumber);
+    
+    bool isCurrentItem(void) const { return _isCurrentItem; }
+    void setIsCurrentItem(bool isCurrentItem);
     
-    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)
+    bool specifiesCoordinate(void) const;
     
-    Q_PROPERTY(QStringList valueLabels READ valueLabels NOTIFY commandChanged)
-    Q_PROPERTY(QStringList valueStrings READ valueStrings NOTIFY valueStringsChanged)
+    QGeoCoordinate coordinate(void) const { return _coordinate; }
+    void setCoordinate(const QGeoCoordinate& coordinate);
+    
+    QStringList commandNames(void);
+    QString commandName(void);
 
-    double  latitude()  { return _x; }
-    double  longitude() { return _y; }
-    double  altitude()  { return _z; }
-    quint16 id()        { return _id; }
+    int commandByIndex(void);
+    void setCommandByIndex(int index);
+    
+    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);
+    
+    // C++ only methods
 
-    quint16 getId() const {
-        return _id;
-    }
-    double getX() const {
-        return _x;
-    }
-    double getY() const {
-        return _y;
-    }
-    double getZ() const {
-        return _z;
-    }
-    double getLatitude() const {
-        return _x;
-    }
-    double getLongitude() const {
-        return _y;
-    }
-    double getAltitude() const {
-        return _z;
-    }
-    double getYaw() const {
-        return _yaw;
-    }
+    double latitude(void)  const { return _coordinate.latitude(); }
+    double longitude(void) const { return _coordinate.longitude(); }
+    double altitude(void)  const { return _coordinate.altitude(); }
+    
+    void setLatitude(double latitude);
+    void setLongitude(double longitude);
+    void setAltitude(double altitude);
+    
+    double x(void) const { return latitude(); }
+    double y(void) const { return longitude(); }
+    double z(void) const { return altitude(); }
+    
+    void setX(double x);
+    void setY(double y);
+    void setZ(double z);
+    
+    double yaw(void) const { return _yaw; }
+    void setYaw(double yaw);
+    
     bool getAutoContinue() const {
         return _autocontinue;
     }
-    bool getCurrent() const {
-        return _current;
-    }
     double getLoiterOrbit() const {
         return _orbit;
     }
@@ -128,16 +136,16 @@ public:
         return _orbit;
     }
     double getParam4() const {
-        return _yaw;
+        return yaw();
     }
     double getParam5() const {
-        return _x;
+        return latitude();
     }
     double getParam6() const {
-        return _y;
+        return longitude();
     }
     double getParam7() const {
-        return _z;
+        return altitude();
     }
     int getTurns() const {
         return _param1;
@@ -150,13 +158,6 @@ public:
     int getAction() const {
         return _action;
     }
-    const QString& getName() const {
-        return _name;
-    }
-    const QString& getDescription() const {
-        return _description;
-    }
-
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 
@@ -166,47 +167,24 @@ public:
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
     
-    bool hasCoordinate(void);
-    QGeoCoordinate coordinate(void);
     
-    QString commandName(void);
+signals:
+    void sequenceNumberChanged(int sequenceNumber);
+    void specifiesCoordinateChanged(bool specifiesCoordinate);
+    void isCurrentItemChanged(bool isCurrentItem);
+    void coordinateChanged(const QGeoCoordinate& coordinate);
+    void yawChanged(double yaw);
+
+    /** @brief Announces a change to the waypoint data */
+    void changed(MissionItem* wp);
 
-    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);
+    void commandNameChanged(QString type);
+    void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
+    void valueLabelsChanged(QStringList valueLabels);
+    void valueStringsChanged(QStringList valueStrings);
     
-protected:
-    quint16 _id;
-    double  _x;
-    double  _y;
-    double  _z;
-    double  _yaw;
-    int     _frame;
-    int     _action;
-    bool    _autocontinue;
-    bool    _current;
-    double  _orbit;
-    double  _param1;
-    double  _param2;
-    int     _turns;
-    QString _name;
-    QString _description;
-    quint64 _reachedTime;
-
 public:
-    void setId          (quint16 _id);
-    void setX           (double _x);
-    void setY           (double _y);
-    void setZ           (double _z);
-    void setLatitude    (double lat);
-    void setLongitude   (double lon);
-    void setAltitude    (double alt);
-    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw         (int _yaw);
-    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw         (double _yaw);
     /** @brief Set the waypoint action */
     void setAction      (int _action);
     void setFrame       (int _frame);
@@ -234,22 +212,30 @@ public:
         emit changed(this);
     }
 
-signals:
-    /** @brief Announces a change to the waypoint data */
-    void changed(MissionItem* wp);
-
-    void latitudeChanged    ();
-    void longitudeChanged   ();
-    void altitudeChanged    ();
-    void hasCoordinateChanged(bool hasCoordinate);
-    void coordinateChanged(void);
-    void commandNameChanged(QString type);
-    void commandChanged(MavlinkQmlSingleton::Qml_MAV_CMD command);
-    void valueLabelsChanged(QStringList valueLabels);
-    void valueStringsChanged(QStringList valueStrings);
-    
 private:
     QString _oneDecimalString(double value);
+
+private:
+    typedef struct {
+        MAV_CMD     command;
+        const char* name;
+    } MavCmd2Name_t;
+    
+    int             _sequenceNumber;
+    QGeoCoordinate  _coordinate;
+    double          _yaw;
+    int             _frame;
+    int             _action;
+    bool            _autocontinue;
+    bool            _isCurrentItem;
+    double          _orbit;
+    double          _param1;
+    double          _param2;
+    int             _turns;
+    quint64         _reachedTime;
+    
+    static const int            _cMavCmd2Name = 9;
+    static const MavCmd2Name_t  _rgMavCmd2Name[_cMavCmd2Name];
 };
 
 #endif

src/QmlControls/MissionItemEditor.qml

+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+
+/// Mission item edit control
+Rectangle {
+    property var    missionItem
+
+    width:          _editFieldWidth + (ScreenTools.defaultFontPixelWidth * 10)
+    height:         _valueColumn.y + _valueColumn.height + (radius / 2)
+    border.width:   2
+    border.color:   "white"
+    color:          "white"
+    radius:         ScreenTools.defaultFontPixelWidth
+
+    readonly property real _editFieldWidth: ScreenTools.defaultFontPixelWidth * 13
+
+    MissionItemIndexLabel {
+        id:                 _label
+        anchors.top:        parent.top
+        anchors.right:      parent.right
+        isCurrentItem:      missionItem.isCurrentItem
+        label:              missionItem.sequenceNumber
+    }
+
+    QGCComboBox {
+        id:                 _commandCombo
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      _label.left
+        anchors.top:        parent.top
+        currentIndex:       missionItem.commandByIndex
+        model:              missionItem.commandNames
+
+        onActivated: missionItem.commandByIndex = index
+    }
+
+    Column {
+        id:                 _coordinateColumn
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        visible:            missionItem.specifiesCoordinate
+
+    }
+
+    QGCTextField {
+        id:                 _latitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _commandCombo.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.latitude
+        visible:            missionItem.specifiesCoordinate
+
+        onAccepted:         missionItem.coordinate.latitude = text
+    }
+
+    QGCTextField {
+        id:                 _longitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _latitudeField.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.longitude
+        visible:            missionItem.specifiesCoordinate
+
+        onAccepted:         missionItem.coordinate.longtitude = text
+    }
+
+    QGCTextField {
+        id:                 _altitudeField
+        anchors.margins:    parent.radius / 2
+        anchors.top:        _longitudeField.bottom
+        anchors.right:      parent.right
+        width:              _editFieldWidth
+        text:               missionItem.coordinate.altitude
+        visible:            missionItem.specifiesCoordinate
+        showUnits:          true
+        unitsLabel:         "meters"
+
+        onAccepted:         missionItem.coordinate.altitude = text
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _latitudeField.baseline
+        color:              "black"
+        text:               "Lat:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _longitudeField.baseline
+        color:              "black"
+        text:               "Long:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    QGCLabel {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.baseline:   _altitudeField.baseline
+        color:              "black"
+        text:               "Alt:"
+        visible:            missionItem.specifiesCoordinate
+    }
+
+    Column {
+        id:                 _valueColumn
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        missionItem.specifiesCoordinate ? _altitudeField.bottom : _commandCombo.bottom
+
+        Repeater {
+            model: missionItem.valueLabels
+
+            QGCLabel {
+                color:  "black"
+                text:   modelData
+            }
+        }
+    }
+
+    Column {
+        anchors.margins:    parent.radius / 2
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        _valueColumn.top
+
+        Repeater {
+            model: missionItem.valueStrings
+
+            QGCLabel {
+                width:                  _valueColumn.width
+                color:                  "black"
+                text:                   modelData
+                horizontalAlignment:    Text.AlignRight
+            }
+        }
+    }
+}

src/QmlControls/MissionItemIndexLabel.qml

@@ -5,20 +5,21 @@ import QtQuick.Controls.Styles  1.2
 import QGroundControl.ScreenTools 1.0
 
 Rectangle {
-    property int missionItemIndex  ///< Index to show in label
+    property alias  label:          _label.text
+    property bool   isCurrentItem:  false
 
     width:          ScreenTools.defaultFontPixelHeight * 1.5
     height:         width
     radius:         width / 2
     border.width:   2
     border.color:   "white"
-    color:          "orange"
+    color:          isCurrentItem ? "green" : "orange"
 
     QGCLabel {
+        id:                     _label
         anchors.fill:           parent
         horizontalAlignment:    Text.AlignHCenter
         verticalAlignment:      Text.AlignVCenter
         color:                  "white"
-        text:                   missionItemIndex
     }
 }

src/QmlControls/MissionItemSummary.qml

@@ -7,7 +7,7 @@ import QGroundControl.Vehicle       1.0
 
 /// Mission item summary display control
 Rectangle {
-    property var missionItem        ///< Mission Item object
+    property var    missionItem                         ///< Mission Item object
 
     width:          ScreenTools.defaultFontPixelWidth * 15
     height:         valueColumn.height + radius
@@ -17,9 +17,11 @@ Rectangle {
     radius:         ScreenTools.defaultFontPixelWidth
 
     MissionItemIndexLabel {
+        id:                 _indexLabel
         anchors.top:        parent.top
         anchors.right:      parent.right
-        missionItemIndex:   missionItem.id
+        isCurrentItem:      missionItem.isCurrentItem
+        label:              missionItem.sequenceNumber
     }
 
     Column {

src/QmlControls/QGroundControl.Controls.qmldir

@@ -28,4 +28,5 @@ QGCViewMessage  1.0 QGCViewMessage.qml
 
 MissionItemIndexLabel   1.0 MissionItemIndexLabel.qml
 MissionItemSummary      1.0 MissionItemSummary.qml
+MissionItemEditor       1.0 MissionItemEditor.qml
 

src/Vehicle/Vehicle.cc

@@ -708,7 +708,7 @@ void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
     /*
      bool changed = false;
      for(int i = 0; i < _waypoints.count(); i++) {
-     if(_waypoints[i].getId() == wp->getId()) {
+     if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) {
      _waypoints[i] = *wp;
      changed = true;
      break;

src/ui/HSIDisplay.cc

@@ -1313,7 +1313,7 @@ void HSIDisplay::drawWaypoint(QPainter& painter, const QColor& color, float widt
 
     float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
     float acceptRadius = w->getAcceptanceRadius();
-    double yawDiff = w->getYaw()/180.0*M_PI-yaw;
+    double yawDiff = w->yaw()/180.0*M_PI-yaw;
 
     // Draw background
     pen.setColor(Qt::black);
@@ -1356,11 +1356,11 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             int frameRef = w->getFrame();
             if (frameRef == MAV_FRAME_LOCAL_NED)
             {
-                in = QPointF(w->getX(), w->getY());
+                in = QPointF(w->x(), w->y());
             }
             else if (frameRef == MAV_FRAME_LOCAL_ENU)
             {
-                in = QPointF(w->getY(), w->getX());
+                in = QPointF(w->y(), w->x());
             }
             // Convert global coordinates into the local ENU frame, then display them.
             else if (frameRef == MAV_FRAME_GLOBAL || frameRef == MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@@ -1368,7 +1368,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 
                 // Transform the lat/lon for this waypoint into the local frame
                 double e, n, u;
-                HomePositionManager::instance()->wgs84ToEnu(w->getX(), w->getY(),w->getZ(), &e, &n, &u);
+                HomePositionManager::instance()->wgs84ToEnu(w->x(), w->y(),w->z(), &e, &n, &u);
                 in = QPointF(n, e);
             }
             // Otherwise we don't process this waypoint.
@@ -1383,7 +1383,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             QPointF p = metricBodyToRef(in);
 
             // Select color based on if this is the current waypoint.
-            if (w->getCurrent())
+            if (w->isCurrentItem())
             {
                 drawWaypoint(painter, QGC::colorYellow, refLineWidthToPen(0.8f), w, p);
             }

src/ui/WaypointEditableView.cc

@@ -320,7 +320,7 @@ void WaypointEditableView::changedCurrent(int state)
 {
     if (state == 0)
     {
-        if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
+        if (wp->isCurrentItem() == true) //User clicked on the waypoint, that is already current
         {
             m_ui->selectedBox->setChecked(true);
             m_ui->selectedBox->setCheckState(Qt::Checked);
@@ -333,10 +333,10 @@ void WaypointEditableView::changedCurrent(int state)
     }
     else
     {
-        wp->setCurrent(true);
+        wp->setIsCurrentItem(true);
         // At this point we do not consider this signal
         // to be valid / the edit check boxes should not change the view state
-        //emit changeCurrentWaypoint(wp->getId());
+        //emit changeCurrentWaypoint(wp->sequenceNumber());
         //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
     }
 }
@@ -451,11 +451,11 @@ void WaypointEditableView::updateValues()
     emit param7Broadcast(wp->getParam7());
 
 
-    if (m_ui->selectedBox->isChecked() != wp->getCurrent())
+    if (m_ui->selectedBox->isChecked() != wp->isCurrentItem())
     {
         // This is never a reason to emit a changed signal
         m_ui->selectedBox->blockSignals(true);
-        m_ui->selectedBox->setChecked(wp->getCurrent());
+        m_ui->selectedBox->setChecked(wp->isCurrentItem());
         m_ui->selectedBox->blockSignals(false);
     }
     if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
@@ -463,11 +463,11 @@ void WaypointEditableView::updateValues()
         m_ui->autoContinue->setChecked(wp->getAutoContinue());
     }
 
-    m_ui->idLabel->setText(QString::number(wp->getId()));
+    m_ui->idLabel->setText(QString::number(wp->sequenceNumber()));
 
     // Style alternating rows of Missions as lighter/darker.
     static int lastId = -1;
-    int currId = wp->getId() % 2;
+    int currId = wp->sequenceNumber() % 2;
     if (currId != lastId)
     {
         if (currId == 1)

src/ui/WaypointList.cc

@@ -272,13 +272,13 @@ void WaypointList::addEditable(bool onCurrentPosition)
         wp->setFrame(frame);
         if (frame == MAV_FRAME_GLOBAL || frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
-            wp->setLatitude(last->getLatitude());
-            wp->setLongitude(last->getLongitude());
-            wp->setAltitude(last->getAltitude());
+            wp->setLatitude(last->latitude());
+            wp->setLongitude(last->longitude());
+            wp->setAltitude(last->altitude());
         } else {
-            wp->setX(last->getX());
-            wp->setY(last->getY());
-            wp->setZ(last->getZ());
+            wp->setX(last->x());
+            wp->setY(last->y());
+            wp->setZ(last->z());
         }
         wp->setParam1(last->getParam1());
         wp->setParam2(last->getParam2());
@@ -304,7 +304,9 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new MissionItem(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    wp = new MissionItem(NULL, 0,
+                                         QGeoCoordinate(uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL()),
+                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
 
                 } else {
@@ -314,9 +316,9 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(),
-                                      HomePositionManager::instance()->getHomeLongitude(),
-                                      WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    wp = new MissionItem(NULL, 0,
+                                         QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
+                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
                 }
             }
@@ -325,11 +327,15 @@ void WaypointList::addEditable(bool onCurrentPosition)
                 if (onCurrentPosition)
                 {
                     updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
-                    wp = new MissionItem(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                    wp = new MissionItem(NULL, 0,
+                                         QGeoCoordinate(uas->getLocalX(), uas->getLocalY(), uas->getLocalZ()),
+                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
                 } else {
                     updateStatusLabel(tr("Added default LOCAL (NED) waypoint."));
-                    wp = new MissionItem(0, 0, 0, -0.50, 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+                    wp = new MissionItem(0, 0,
+                                         QGeoCoordinate(0, 0, -0.50),
+                                         0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
                 }
             }
@@ -337,9 +343,9 @@ void WaypointList::addEditable(bool onCurrentPosition)
             {
                 // MAV connected, but position unknown, add default waypoint
                 updateStatusLabel(tr("WARNING: No position known. Adding default LOCAL (NED) waypoint"));
-                wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(),
-                                  HomePositionManager::instance()->getHomeLongitude(),
-                                  WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                wp = new MissionItem(NULL, 0,
+                                     QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
+                                     0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                 WPM->addWaypointEditable(wp);
             }
         }
@@ -347,9 +353,9 @@ void WaypointList::addEditable(bool onCurrentPosition)
         {
             //Since no UAV available, create first default waypoint.
             updateStatusLabel(tr("No UAV connected. Adding default GLOBAL (NED) waypoint"));
-            wp = new MissionItem(0, HomePositionManager::instance()->getHomeLatitude(),
-                              HomePositionManager::instance()->getHomeLongitude(),
-                              WPM->getAltitudeRecommendation(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+            wp = new MissionItem(NULL, 0,
+                                 QGeoCoordinate(HomePositionManager::instance()->getHomeLatitude(), HomePositionManager::instance()->getHomeLongitude(), WPM->getAltitudeRecommendation()),
+                                 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
         }
     }
@@ -389,7 +395,7 @@ void WaypointList::currentWaypointEditableChanged(quint16 seq)
                 WaypointEditableView* widget = wpEditableViews.value(waypoints[i], NULL);
 
                 if (widget) {
-                    if (waypoints[i]->getId() == seq)
+                    if (waypoints[i]->sequenceNumber() == seq)
                     {
                         widget->setCurrent(true);
                     }
@@ -417,7 +423,7 @@ void WaypointList::currentWaypointViewOnlyChanged(quint16 seq)
             WaypointViewOnlyView* widget = wpViewOnlyViews.value(waypoints[i], NULL);
 
             if (widget) {
-                if (waypoints[i]->getId() == seq)
+                if (waypoints[i]->sequenceNumber() == seq)
                 {
                     widget->setCurrent(true);
                 }
@@ -600,7 +606,7 @@ void WaypointList::moveDown(MissionItem* wp)
 
 void WaypointList::removeWaypoint(MissionItem* wp)
 {    
-        WPM->removeWaypoint(wp->getId());
+        WPM->removeWaypoint(wp->sequenceNumber());
 }
 
 void WaypointList::changeEvent(QEvent *e)

src/ui/map/QGCMapWidget.cc

@@ -646,7 +646,7 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
 //    internals::PointLatLng coord = waypoint->Coord();
 //    QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
 //    qDebug() << "MAP WP COORD (MAP):" << coord_str << __FILE__ << __LINE__;
-//    QString wp_str = QString::number(wp->getLatitude(), 'f', 6) + "   " + QString::number(wp->getLongitude(), 'f', 6);
+//    QString wp_str = QString::number(wp->getLatitude(), 'f', 6) + "   " + QString::number(wp->longitude(), 'f', 6);
 //    qDebug() << "MAP WP COORD (WP):" << wp_str << __FILE__ << __LINE__;
 
     // Protect from vicious double update cycle
@@ -748,9 +748,9 @@ void QGCMapWidget::updateWaypoint(int uas, MissionItem* wp)
                 else
                 {
                     // 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());
+                    icon->SetCoord(internals::PointLatLng(wp->latitude(), wp->longitude()));
+                    icon->SetAltitude(wp->altitude());
+                    icon->SetHeading(wp->yaw());
                     icon->SetNumber(wpindex);
                 }
                 // Re-enable signals again
@@ -827,7 +827,7 @@ void QGCMapWidget::updateWaypointList(int uas)
         // Update all potentially new waypoints
         foreach (MissionItem* wp, wps)
         {
-            qDebug() << "UPDATING NEW WP" << wp->getId();
+            qDebug() << "UPDATING NEW WP" << wp->sequenceNumber();
             // Update / add only if new
             if (!waypointsToIcons.contains(wp)) updateWaypoint(uas, wp);
         }

src/ui/map/Waypoint2DIcon.cc

@@ -3,8 +3,8 @@
 #include "opmapcontrol.h"
 #include "QGC.h"
 
-Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, QString description, int radius)
-    : mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, description, map),
+Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, int radius)
+    : mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, QString(), map),
     parent(parent),
     waypoint(),
     radius(radius),
@@ -25,7 +25,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
 }
 
 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),
+    : mapcontrol::WayPointItem(internals::PointLatLng(wp->latitude(), wp->longitude()), wp->altitude(), QString(), map),
     parent(parent),
     waypoint(wp),
     radius(radius),
@@ -33,7 +33,7 @@ Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMa
     showOrbit(false),
     color(color)
 {
-    SetHeading(wp->getYaw());
+    SetHeading(wp->yaw());
     SetNumber(listindex);
     this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
     picture = QPixmap(radius+1, radius+1);
@@ -59,13 +59,12 @@ void Waypoint2DIcon::updateWaypoint()
         // Store old size
         static QRectF oldSize;
 
-        SetHeading(waypoint->getYaw());
-        SetCoord(internals::PointLatLng(waypoint->getLatitude(), waypoint->getLongitude()));
+        SetHeading(waypoint->yaw());
+        SetCoord(internals::PointLatLng(waypoint->latitude(), waypoint->longitude()));
 
-        // qDebug() << "UPDATING WP:" << waypoint->getId() << "LAT:" << waypoint->getLatitude() << "LON:" << waypoint->getLongitude();
+        // qDebug() << "UPDATING WP:" << waypoint->sequenceNumber() << "LAT:" << waypoint->latitude() << "LON:" << waypoint->longitude();
 
-        SetDescription(waypoint->getDescription());
-        SetAltitude(waypoint->getAltitude());
+        SetAltitude(waypoint->altitude());
         // FIXME Add SetNumber (currently needs a separate call)
         drawIcon();
         QRectF newSize = boundingRect();

src/ui/map/Waypoint2DIcon.h

@@ -15,7 +15,7 @@ public:
      * @param longitude
      * @param name name of the circle point
      */
-    Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), QString description = QString(), int radius=30);
+    Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name = QString(), int radius=30);
 
     /**
      *