//This is a slot receiving signals from QCheckBox m_ui->current. The state given here is whatever the user has clicked and not the true "current" value onboard.
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>,lon <b>%2<sup>o</sup></b>,alt <b>%3)</b>; yaw: %4; rad: %5").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>,lon <b>%2<sup>o</sup></b>,alt <b>%3)</b>; yaw: %4; rad: %5").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and wait there for %4 sec; yaw: %5; rad: %6").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam1()).arg(wp->getParam4()).arg(wp->getParam2()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; yaw: %4; rad: %5").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b>; yaw: %4; rad: %5").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam4()).arg(wp->getParam2()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam3()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(-wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam3()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there indefinitely (counter-clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(-wp->getParam3()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5 turns (counter-clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam3()).arg(wp->getParam1()));
}
else
{
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("Go to <b>(%1, %2, %3)</b> and loiter there for %5s (counter-clockwise); rad: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(-wp->getParam3()).arg(wp->getParam1()));
m_ui->displayBar->setText(QString("LAND. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and descent; yaw: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()));
m_ui->displayBar->setText(QString("LAND. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b> and descent; yaw: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam4()));
break;
}
caseMAV_FRAME_LOCAL_NED:
default:
{
m_ui->displayBar->setText(QString("LAND. Go to <b>(%1, %2, %3)</b> and descent; yaw: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()));
m_ui->displayBar->setText(QString("LAND. Go to <b>(%1, %2, %3)</b> and descent; yaw: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam4()));
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b>; yaw: %4").arg(wp->getX(),0,'f',7).arg(wp->getY(),0,'f',7).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()));
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(</b>lat <b>%1<sup>o</sup></b>, lon <b>%2<sup>o</sup></b>, alt <b>%3)</b>; yaw: %4").arg(wp->x(),0,'f',7).arg(wp->y(),0,'f',7).arg(wp->z(),0,'f',2).arg(wp->getParam4()));
break;
}
caseMAV_FRAME_LOCAL_NED:
default:
{
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(%1, %2, %3)</b>; yaw: %4").arg(wp->getX(),0,'f',2).arg(wp->getY(),0,'f',2).arg(wp->getZ(),0,'f',2).arg(wp->getParam4()));
m_ui->displayBar->setText(QString("TAKEOFF. Go to <b>(%1, %2, %3)</b>; yaw: %4").arg(wp->x(),0,'f',2).arg(wp->y(),0,'f',2).arg(wp->z(),0,'f',2).arg(wp->getParam4()));