Merge branch 'dev' of github.com:pixhawk/qgroundcontrol into dev

6f583e02 · pixhawk · c7dfc6e8 · 24201265 · 6f583e02 · 6f583e02
Commit 6f583e02 authored Nov 20, 2010 by pixhawk
23 changed files
--- a/.gitignore
+++ b/.gitignore
 *Makefile*
+tags
 build
 Info.plist
 obj

--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -127,8 +127,8 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/QGCFirmwareUpdate.ui \
    src/ui/QGCPxImuFirmwareUpdate.ui \
    src/ui/QGCDataPlot2D.ui \
-    src/ui/QGCRemoteControlView.ui \
+    src/ui/QGCRemoteControlView.ui
-    src/ui/WaypointGlobalView.ui
+    #src/ui/WaypointGlobalView.ui
 INCLUDEPATH += src \
    src/ui \
    src/ui/linechart \
@@ -195,7 +195,7 @@ HEADERS += src/MG.h \
    src/ui/linechart/Linecharts.h \
    src/uas/SlugsMAV.h \
    src/uas/PxQuadMAV.h \
-    src/uas/ArduPilotMAV.h \
+    src/uas/ArduPilotMegaMAV.h \
    src/comm/MAVLinkSyntaxHighlighter.h \
    src/ui/watchdog/WatchdogControl.h \
    src/ui/watchdog/WatchdogProcessView.h \
@@ -211,7 +211,7 @@ HEADERS += src/MG.h \
    src/ui/map/Waypoint2DIcon.h \
    src/ui/map/MAV2DIcon.h \
    src/ui/QGCRemoteControlView.h \
-    src/ui/WaypointGlobalView.h \
+    #src/ui/WaypointGlobalView.h \
    src/ui/RadioCalibration/RadioCalibrationData.h \
    src/ui/RadioCalibration/RadioCalibrationWindow.h \
    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
@@ -271,7 +271,7 @@ SOURCES += src/main.cc \
    src/ui/linechart/Linecharts.cc \
    src/uas/SlugsMAV.cc \
    src/uas/PxQuadMAV.cc \
-    src/uas/ArduPilotMAV.cc \
+    src/uas/ArduPilotMegaMAV.cc \
    src/comm/MAVLinkSyntaxHighlighter.cc \
    src/ui/watchdog/WatchdogControl.cc \
    src/ui/watchdog/WatchdogProcessView.cc \
@@ -293,7 +293,7 @@ SOURCES += src/main.cc \
    src/ui/RadioCalibration/CurveCalibrator.cc \
    src/ui/RadioCalibration/AbstractCalibrator.cc \
    src/ui/RadioCalibration/RadioCalibrationData.cc \
-    src/ui/WaypointGlobalView.cc \
+    #src/ui/WaypointGlobalView.cc \
    src/ui/map3D/Q3DWidget.cc \
    src/ui/map3D/PixhawkCheetahGeode.cc \
    src/ui/map3D/Pixhawk3DWidget.cc \

--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -33,7 +33,8 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include <QStringList>
-Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
+Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime,
+                   MAV_FRAME _frame, MAV_ACTION _action)
 : id(_id),
  x(_x),
  y(_y),
@@ -42,7 +43,9 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
  autocontinue(_autocontinue),
  current(_current),
  orbit(_orbit),
-  holdTime(_holdTime)
+  holdTime(_holdTime),
+  frame(_frame),
+  action(_action)
 {
 }
@@ -100,9 +103,14 @@ void Waypoint::setYaw(float yaw)
    this->yaw = yaw;
 }
-void Waypoint::setType(type_enum type)
+void Waypoint::setAction(MAV_ACTION action)
 {
-    this->type = type;
+    this->action = action;
+}
+void Waypoint::setFrame(MAV_FRAME frame)
+{
+    this->frame = frame;
 }
 void Waypoint::setAutocontinue(bool autoContinue)

--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -36,14 +36,16 @@ This file is part of the PIXHAWK project
 #include <QObject>
 #include <QString>
 #include <QTextStream>
-#include <inttypes.h>
+#include "mavlink_types.h"
 class Waypoint : public QObject
 {
    Q_OBJECT
 public:
-    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
+    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
+             bool current = false, float orbit = 0.1f, int holdTime = 2000,
+             MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
    ~Waypoint();
    quint16 getId() const { return id; }
@@ -55,26 +57,20 @@ public:
    bool getCurrent() const { return current; }
    float getOrbit() const { return orbit; }
    float getHoldTime() const { return holdTime; }
+    MAV_FRAME getFrame() const { return frame; }
+    MAV_ACTION getAction() const { return action; }
    void save(QTextStream &saveStream);
    bool load(QTextStream &loadStream);
-    enum type_enum
-    {
-        GLOBAL = 0,
-        LOCAL = 1,
-        GLOBAL_ORBIT = 2,
-        LOCAL_ORBIT = 3
-    };
 protected:
    quint16 id;
    float x;
    float y;
    float z;
    float yaw;
-    type_enum type;
+    MAV_FRAME frame;
+    MAV_ACTION action;
    bool autocontinue;
    bool current;
    float orbit;
@@ -86,7 +82,8 @@ public slots:
    void setY(float y);
    void setZ(float z);
    void setYaw(float yaw);
-    void setType(type_enum type);
+    void setAction(MAV_ACTION action);
+    void setFrame(MAV_FRAME frame);
    void setAutocontinue(bool autoContinue);
    void setCurrent(bool current);
    void setOrbit(float orbit);

--- a/src/comm/MAVLinkLightProtocol.cc
+++ b/src/comm/MAVLinkLightProtocol.cc
@@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkLightProtocol.h"
 #include "UASManager.h"
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
 #include "LinkManager.h"
 MAVLinkLightProtocol::MAVLinkLightProtocol() :
@@ -113,7 +113,7 @@ void MAVLinkLightProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //            // Check and (if necessary) create UAS object
 //            if (uas == NULL)
 //            {
-//                ArduPilotMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
+//                ArduPilotMegaMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
 //                // Connect this robot to the UAS object
 //                // it is IMPORTANT here to use the right object type,
 //                // else the slot of the parent object is called (and thus the special

--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UAS.h"
 #include "SlugsMAV.h"
 #include "PxQuadMAV.h"
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
 #include <QGCMAVLink.h>
@@ -186,9 +186,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                    uas = mav;
                }
                    break;
-                case MAV_AUTOPILOT_ARDUPILOT:
+                case MAV_AUTOPILOT_ARDUPILOTMEGA:
                    {
-                    ArduPilotMAV* mav = new ArduPilotMAV(this, message.sysid);
+                    ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
                    // Connect this robot to the UAS object
                    // it is IMPORTANT here to use the right object type,
                    // else the slot of the parent object is called (and thus the special

--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -425,7 +425,7 @@ void MAVLinkSimulationLink::mainloop()
        static int rcCounter = 0;
        if (rcCounter == 2)
        {
-            mavlink_rc_channels_t chan;
+            mavlink_rc_channels_raw_t chan;
            chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000);
            chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000);
            chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000);
@@ -434,15 +434,7 @@ void MAVLinkSimulationLink::mainloop()
            chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
            chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
            chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
-            chan.chan1_255 = ((chan.chan1_raw - 1000)/1000.0f) * 255.0f;
+            messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
-            chan.chan2_255 = ((chan.chan2_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan3_255 = ((chan.chan3_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan4_255 = ((chan.chan4_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan5_255 = ((chan.chan5_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan6_255 = ((chan.chan6_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan7_255 = ((chan.chan7_raw - 1000)/1000.0f) * 255.0f;
-            chan.chan8_255 = ((chan.chan8_raw - 1000)/1000.0f) * 255.0f;
-            messageSize = mavlink_msg_rc_channels_encode(systemId, componentId, &msg, &chan);
            // Allocate buffer with packet data
            bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
            //add data into datastream

--- a/src/comm/OpalLink.cc
+++ b/src/comm/OpalLink.cc
@@ -323,7 +323,7 @@ void OpalLink::getSignals()
            if (sendRCValues)
            {
                mavlink_message_t rc;
-                mavlink_msg_rc_channels_pack(systemID, componentID, &rc,
+                mavlink_msg_rc_channels_raw_pack(systemID, componentID, &rc,
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]),
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]),
@@ -332,14 +332,6 @@ void OpalLink::getSignals()
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_1], OpalRT::NORM_CHANNEL_1),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_2], OpalRT::NORM_CHANNEL_2),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_3], OpalRT::NORM_CHANNEL_3),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_4], OpalRT::NORM_CHANNEL_4),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_5], OpalRT::NORM_CHANNEL_5),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_6], OpalRT::NORM_CHANNEL_6),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_7], OpalRT::NORM_CHANNEL_7),
-                                             rescaleNorm(values[OpalRT::NORM_CHANNEL_8], OpalRT::NORM_CHANNEL_8),
                                             0 //rssi unused
                                             );
                receiveMessage(rc);

--- a/src/uas/ArduPilotMAV.cc
+++ b/src/uas/ArduPilotMAV.cc
@@ -27,9 +27,9 @@ This file is part of the QGROUNDCONTROL project
 *   @author Your Name here
 */
-#include "ArduPilotMAV.h"
+#include "ArduPilotMegaMAV.h"
-ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
+ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
        UAS(mavlink, id)//,
        // place other initializers here
 {
@@ -43,7 +43,7 @@ ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :
 *             messages can be sent back to the system via this link
 * @param message MAVLink message, as received from the MAVLink protocol stack
 */
-void ArduPilotMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
+void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
    // Let UAS handle the default message set
    UAS::receiveMessage(link, message);

--- a/src/uas/ArduPilotMAV.h
+++ b/src/uas/ArduPilotMAV.h
@@ -21,16 +21,16 @@ This file is part of the QGROUNDCONTROL project
 ======================================================================*/
-#ifndef ARDUPILOTMAV_H
+#ifndef ARDUPILOTMEGAMAV_H
-#define ARDUPILOTMAV_H
+#define ARDUPILOTMEGAMAV_H
 #include "UAS.h"
-class ArduPilotMAV : public UAS
+class ArduPilotMegaMAV : public UAS
 {
    Q_OBJECT
 public:
-    ArduPilotMAV(MAVLinkProtocol* mavlink, int id = 0);
+    ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id = 0);
 public slots:
    /** @brief Receive a MAVLink message from this MAV */
    void receiveMessage(LinkInterface* link, mavlink_message_t message);

--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -410,41 +410,34 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                }
            }
            break;
-        case MAVLINK_MSG_ID_RC_CHANNELS:
+        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
            {
-                mavlink_rc_channels_t channels;
+                mavlink_rc_channels_raw_t channels;
-                mavlink_msg_rc_channels_decode(&message, &channels);
+                mavlink_msg_rc_channels_raw_decode(&message, &channels);
                emit remoteControlRSSIChanged(channels.rssi/255.0f);
-                for (int i = 0; i < 8; i++)
+                emit remoteControlChannelRawChanged(0, channels.chan1_raw);
-                {
+                emit remoteControlChannelRawChanged(1, channels.chan2_raw);
-                    switch (i)
+                emit remoteControlChannelRawChanged(2, channels.chan3_raw);
-                    {
+                emit remoteControlChannelRawChanged(3, channels.chan4_raw);
-                    case 0:
+                emit remoteControlChannelRawChanged(4, channels.chan5_raw);
-                        emit remoteControlChannelChanged(i, channels.chan1_raw, channels.chan1_255/255.0f);
+                emit remoteControlChannelRawChanged(5, channels.chan6_raw);
-                        break;
+                emit remoteControlChannelRawChanged(6, channels.chan7_raw);
-                    case 1:
+                emit remoteControlChannelRawChanged(7, channels.chan8_raw);
-                        emit remoteControlChannelChanged(i, channels.chan2_raw, channels.chan2_255/255.0f);
+            }
-                        break;
+            break;
-                    case 2:
+        case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
-                        emit remoteControlChannelChanged(i, channels.chan3_raw, channels.chan3_255/255.0f);
+            {
-                        break;
+                mavlink_rc_channels_scaled_t channels;
-                    case 3:
+                mavlink_msg_rc_channels_scaled_decode(&message, &channels);
-                        emit remoteControlChannelChanged(i, channels.chan4_raw, channels.chan4_255/255.0f);
+                emit remoteControlRSSIChanged(channels.rssi/255.0f);
-                        break;
+                emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
-                    case 4:
+                emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
-                        emit remoteControlChannelChanged(i, channels.chan5_raw, channels.chan5_255/255.0f);
+                emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
-                        break;
+                emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
-                    case 5:
+                emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
-                        emit remoteControlChannelChanged(i, channels.chan6_raw, channels.chan6_255/255.0f);
+                emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
-                        break;
+                emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
-                    case 6:
+                emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
-                        emit remoteControlChannelChanged(i, channels.chan7_raw, channels.chan7_255/255.0f);
-                        break;
-                    case 7:
-                        emit remoteControlChannelChanged(i, channels.chan8_raw, channels.chan8_255/255.0f);
-                        break;
-                    }
-                }
            }
            break;
        case MAVLINK_MSG_ID_PARAM_VALUE:

--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -356,8 +356,10 @@ signals:
    void positionZControlEnabled(bool enabled);
    /** @brief Heading control enabled/disabled */
    void positionYawControlEnabled(bool enabled);
-    /** @brief Value of a remote control channel */
+    /** @brief Value of a remote control channel (raw) */
-    void remoteControlChannelChanged(int channelId, float raw, float normalized);
+    void remoteControlChannelRawChanged(int channelId, float raw);
+    /** @brief Value of a remote control channel (scaled)*/
+    void remoteControlChannelScaledChanged(int channelId, float normalized);
    /** @brief Remote control RSSI changed */
    void remoteControlRSSIChanged(float rssi);
    /** @brief Radio Calibration Data has been received from the MAV*/

--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -132,7 +132,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
        if(wp->seq == current_wp_id)
        {
            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
-            localAddWaypoint(lwp);
+            addWaypoint(lwp);
            //get next waypoint
            current_wp_id++;
@@ -288,7 +288,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
    return -1;
 }
-void UASWaypointManager::localAddWaypoint(Waypoint *wp)
+void UASWaypointManager::addWaypoint(Waypoint *wp)
 {
    if (wp)
    {
@@ -298,7 +298,7 @@ void UASWaypointManager::localAddWaypoint(Waypoint *wp)
    }
 }
-int UASWaypointManager::localRemoveWaypoint(quint16 seq)
+int UASWaypointManager::removeWaypoint(quint16 seq)
 {
    if (seq < waypoints.size())
    {
@@ -316,7 +316,7 @@ int UASWaypointManager::localRemoveWaypoint(quint16 seq)
    return -1;
 }
-void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
+void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
 {
    if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
    {
@@ -344,7 +344,7 @@ void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
    }
 }
-void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
+void UASWaypointManager::saveWaypoints(const QString &saveFile)
 {
    QFile file(saveFile);
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
@@ -358,7 +358,7 @@ void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
    file.close();
 }
-void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
+void UASWaypointManager::loadWaypoints(const QString &loadFile)
 {
    QFile file(loadFile);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
@@ -386,16 +386,6 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
    emit waypointListChanged();
 }
-void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
-{
-}
-int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
-{
-    return 0;
-}
 void UASWaypointManager::clearWaypointList()
 {
    if(current_state == WP_IDLE)
@@ -474,8 +464,8 @@ void UASWaypointManager::writeWaypoints()
                cur_d->orbit_direction = 0;
                cur_d->param1 = cur_s->getOrbit();
                cur_d->param2 = cur_s->getHoldTime();
-                // TODO: Replace this value depending on the type of waypoint
+                cur_d->frame = cur_s->getFrame();
-                cur_d->type = 1;    //FIXME: we only use local waypoints at the moment
+                cur_d->action = cur_s->getAction();
                cur_d->seq = i;     // don't read out the sequence number of the waypoint class
                cur_d->x = cur_s->getX();
                cur_d->y = cur_s->getY();

--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -79,25 +79,18 @@ public:
    /*@{*/
    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
    void readWaypoints();                           ///< Requests the MAV's current waypoint list
-    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
+    void writeWaypoints();                          ///< Sends the waypoint list to the MAV
    int setCurrentWaypoint(quint16 seq);            ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
    /*@}*/
-    /** @name Local waypoint list operations */
+    /** @name Waypoint list operations */
    /*@{*/
-    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the local waypoint list.
+    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the waypoint list.
-    void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
+    void addWaypoint(Waypoint *wp);                        ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
-    void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
+    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 localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
+    void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
-    void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+    void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
-    /*@}*/
-    /** @name Global waypoint list operations */
-    /*@{*/
-    const QVector<Waypoint *> &getGlobalWaypointList(void) { return waypoints; }  ///< Returns a const reference to the global waypoint list.
-    void globalAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int globalRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
    /*@}*/
 private:

--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -206,13 +206,13 @@ void MainWindow::connectWidgets()
        // add Waypoint widget in the WaypointList widget when mouse clicked
        connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
        // it notifies that a waypoint global goes to do create
-        connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
+        //connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
-        connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
+        //connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
        // it notifies that a waypoint global goes to do create and a map graphic too
        connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
        // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
-        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
+        //connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
    }
 }

--- a/src/ui/QGCRemoteControlView.cc
+++ b/src/ui/QGCRemoteControlView.cc
@@ -96,10 +96,11 @@ void QGCRemoteControlView::setUASId(int id)
        if (uas)
        {
            // The UAS exists, disconnect any existing connections
-            disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
+            disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
-            disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
+            disconnect(uas, SIGNAL(remoteControlRSSIRawChanged(float)), this, SLOT(setRemoteRSSI(float)));
-            disconnect(uas, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
+            disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-            disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
+            disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
+            disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
        }
    }
@@ -111,25 +112,49 @@ void QGCRemoteControlView::setUASId(int id)
        nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
        calibrationWindow->setUASId(id);
        connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-        connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
-        connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
        connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
+        connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
+        connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
+        connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
+        connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
    }
 }
-void QGCRemoteControlView::setChannel(int channelId, float raw, float normalized)
+void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
 {
    if (this->raw.size() <= channelId)
    {
        // This is a new channel, append it
        this->raw.append(raw);
+        this->normalized.append(0);
+        appendChannelWidget(channelId);
+    }
+    else
+    {
+        // This is an existing channel, aupdate it
+        this->raw[channelId] = raw;
+    }
+    updated = true;
+    // FIXME Will be timer based in the future
+    redraw();
+}
+void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
+{
+    if (this->raw.size() <= channelId) // using raw vector as size indicator
+    {
+        // This is a new channel, append it
        this->normalized.append(normalized);
+        this->raw.append(0);
        appendChannelWidget(channelId);
    }
    else
    {
        // This is an existing channel, update it
-        this->raw[channelId] = raw;
        this->normalized[channelId] = normalized;
    }
    updated = true;
@@ -156,8 +181,9 @@ void QGCRemoteControlView::appendChannelWidget(int channelId)
    layout->addWidget(raw);
    // Append progress bar
    QProgressBar* normalized = new QProgressBar(this);
-    normalized->setMinimum(0);
+    normalized->setMinimum(-100);
    normalized->setMaximum(100);
+    normalized->setFormat("%v%");
    progressBars.append(normalized);
    layout->addWidget(normalized);
    channelLayout->addLayout(layout);

--- a/src/ui/QGCRemoteControlView.h
+++ b/src/ui/QGCRemoteControlView.h
@@ -52,7 +52,8 @@ public:
 public slots:
    void setUASId(int id);
-    void setChannel(int channelId, float raw, float normalized);
+    void setChannelRaw(int channelId, float raw);
+    void setChannelScaled(int channelId, float normalized);
    void setRemoteRSSI(float rssiNormalized);
    void redraw();

--- a/src/ui/QGCRemoteControlView.ui
+++ b/src/ui/QGCRemoteControlView.ui
@@ -165,8 +165,20 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="textVisible">
+    <bool>true</bool>
+   </property>
+   <property name="invertedAppearance">
+    <bool>false</bool>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan2ProgressBar">
@@ -178,8 +190,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan3ProgressBar">
@@ -191,8 +209,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan4ProgressBar">
@@ -204,8 +228,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan5ProgressBar">
@@ -217,8 +247,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan6ProgressBar">
@@ -230,8 +266,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan7ProgressBar">
@@ -243,8 +285,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QProgressBar" name="chan8ProgressBar">
@@ -256,8 +304,14 @@
     <height>16</height>
    </rect>
   </property>
+   <property name="minimum">
+    <number>-100</number>
+   </property>
   <property name="value">
-    <number>24</number>
+    <number>0</number>
+   </property>
+   <property name="format">
+    <string>%v%</string>
   </property>
  </widget>
  <widget class="QLabel" name="label_11">

--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -56,7 +56,7 @@ class WaypointList : public QWidget {
    virtual ~WaypointList();
 public slots:
-    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+    void updatePosition(UASInterface*, double x, double y, double z, quint64 usec);
    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
    void setUAS(UASInterface* uas);
@@ -77,7 +77,7 @@ public slots:
    /** @brief Add a waypoint by mouse click over the map */
    void addWaypointMouse(QPointF coordinate);
    /** @brief it notifies that a global waypoint goes to do created */
-    void setIsWPGlobal(bool value, QPointF centerCoordinate);
+    //void setIsWPGlobal(bool value, QPointF centerCoordinate);
    //Update events
@@ -93,9 +93,9 @@ public slots:
    /** @brief The MapWidget informs that a waypoint global was changed on the map */
    void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
-    void clearLocalWPWidget();
+    void clearWPWidget();
-    void changeWPPositionBySpinBox(Waypoint* wp);
+    //void changeWPPositionBySpinBox(Waypoint* wp);
    // Waypoint operations
    void moveUp(Waypoint* wp);
@@ -109,7 +109,7 @@ signals:
  void clearPathclicked();
  void createWaypointAtMap(const QPointF coordinate);
 // void ChangeWaypointGlobalPosition(int index, QPointF coord);
-  void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
+  void changePositionWPBySpinBox(int indexWP, float lat, float lon);
@@ -118,15 +118,13 @@ protected:
 protected:
    QMap<Waypoint*, WaypointView*> wpViews;
-    QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
+    //QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
    QVBoxLayout* listLayout;
    UASInterface* uas;
    double mavX;
    double mavY;
    double mavZ;
    double mavYaw;
-    bool isGlobalWP;
-    bool isLocalWP;
    QPointF centerMapCoordinate;
 private:

--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -46,16 +46,32 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
    m_ui->setupUi(this);
    this->wp = wp;
-    wp->setType(Waypoint::LOCAL);
+    wp->setFrame(MAV_FRAME_LOCAL);
-    m_ui->orbitSpinBox->setEnabled(false);
-    m_ui->orbitSpinBox->hide();
+    // add actions
+    m_ui->comboBox_action->addItem("Navigate",MAV_ACTION_NAVIGATE);
+    m_ui->comboBox_action->addItem("TakeOff",MAV_ACTION_TAKEOFF);
+    m_ui->comboBox_action->addItem("Land",MAV_ACTION_LAND);
+    m_ui->comboBox_action->addItem("Loiter",MAV_ACTION_LOITER);
+    // add frames 
+    m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
+    m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
+    // defaults
+    changedAction(0);
+    changedFrame(0);
    // Read values and set user interface
    updateValues();
-    connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
+    connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
-    connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
+    connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
-    connect(m_ui->zSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
+    connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
+    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
+    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
+    connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
    //hidden degree to radian conversion of the yaw angle
    connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYaw(int)));
@@ -67,9 +83,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
    connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
    connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
-    connect(m_ui->orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+    connect(m_ui->comboBox_action, SIGNAL(activated(int)), this, SLOT(changedAction(int)));
+    connect(m_ui->comboBox_frame, SIGNAL(activated(int)), this, SLOT(changedFrame(int)));
    connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
    connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
@@ -104,6 +119,72 @@ void WaypointView::changedAutoContinue(int state)
        wp->setAutocontinue(true);
 }
+void WaypointView::changedAction(int index)
+{
+    // set action for waypoint
+    // hide everything to start
+    m_ui->orbitSpinBox->hide();
+    m_ui->takeOffAngleSpinBox->hide();
+    m_ui->autoContinue->hide();
+    m_ui->holdTimeSpinBox->hide();
+    // set waypoint action
+    MAV_ACTION action = (MAV_ACTION)m_ui->comboBox_action->itemData(index).toUInt();
+    wp->setAction(action);
+    // expose ui based on action
+    switch(action)
+    {
+    case MAV_ACTION_TAKEOFF:
+        m_ui->takeOffAngleSpinBox->show();
+        break;
+    case MAV_ACTION_LAND:
+        break;
+    case MAV_ACTION_NAVIGATE:
+        m_ui->autoContinue->show();
+        break;
+    case MAV_ACTION_LOITER:
+        m_ui->orbitSpinBox->show();
+        m_ui->holdTimeSpinBox->show();
+        break;
+    default:
+        std::cerr << "unknown action" << std::endl;
+    }
+}
+void WaypointView::changedFrame(int index)
+{
+    // hide everything to start
+    m_ui->lonSpinBox->hide();
+    m_ui->latSpinBox->hide();
+    m_ui->altSpinBox->hide();
+    m_ui->posNSpinBox->hide();
+    m_ui->posESpinBox->hide();
+    m_ui->posDSpinBox->hide();
+    // set waypoint action
+    MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
+    wp->setFrame(frame);
+    switch(frame)
+    {
+    case MAV_FRAME_GLOBAL:
+        m_ui->lonSpinBox->show();
+        m_ui->latSpinBox->show();
+        m_ui->altSpinBox->show();
+        break;
+    case MAV_FRAME_LOCAL:
+        m_ui->posNSpinBox->show();
+        m_ui->posESpinBox->show();
+        m_ui->posDSpinBox->show();
+        break;
+    default:
+        std::cerr << "unknown frame" << std::endl;
+    }
+}
 void WaypointView::changedCurrent(int state)
 {
    if (state == 0)
@@ -121,9 +202,41 @@ void WaypointView::changedCurrent(int state)
 void WaypointView::updateValues()
 {
-    m_ui->xSpinBox->setValue(wp->getX());
+    // update frame
-    m_ui->ySpinBox->setValue(wp->getY());
+    MAV_FRAME frame = wp->getFrame();
-    m_ui->zSpinBox->setValue(wp->getZ());
+    changedFrame(m_ui->comboBox_frame->findData(frame));
+    switch(frame)
+    {
+    case(MAV_FRAME_LOCAL):
+        m_ui->posNSpinBox->setValue(wp->getX());
+        m_ui->posESpinBox->setValue(wp->getY());
+        m_ui->posDSpinBox->setValue(wp->getZ());
+        break;
+    case(MAV_FRAME_GLOBAL):
+        m_ui->lonSpinBox->setValue(wp->getX());
+        m_ui->latSpinBox->setValue(wp->getY());
+        m_ui->altSpinBox->setValue(wp->getZ());
+        break;
+    }
+    // update action
+    MAV_ACTION action = wp->getAction();
+    changedFrame(m_ui->comboBox_frame->findData(frame));
+    changedAction(m_ui->comboBox_action->findData(action));
+    switch(action)
+    {
+    case MAV_ACTION_TAKEOFF:
+        break;
+    case MAV_ACTION_LAND:
+        break;
+    case MAV_ACTION_NAVIGATE:
+        break;
+    case MAV_ACTION_LOITER:
+        break;
+    default:
+        std::cerr << "unknown action" << std::endl;
+    }
    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
    m_ui->selectedBox->setChecked(wp->getCurrent());
    m_ui->autoContinue->setChecked(wp->getAutoContinue());
@@ -159,21 +272,3 @@ void WaypointView::changeEvent(QEvent *e)
        break;
    }
 }
-void WaypointView::changeOrbitalState(int state)
-{
-    Q_UNUSED(state);
-    if(m_ui->orbitCheckBox->isChecked())
-    {
-        m_ui->orbitSpinBox->setEnabled(true);
-        m_ui->orbitSpinBox->show();
-        wp->setType(Waypoint::LOCAL_ORBIT);
-    }
-    else
-    {
-        m_ui->orbitSpinBox->setEnabled(false);
-        m_ui->orbitSpinBox->hide();
-        wp->setType(Waypoint::LOCAL);
-    }
-}
--- a/src/ui/WaypointView.h
+++ b/src/ui/WaypointView.h
@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QtGui/QWidget>
 #include "Waypoint.h"
+#include <iostream>
 namespace Ui {
    class WaypointView;
@@ -56,7 +57,8 @@ public slots:
    void moveDown();
    void remove();
    void changedAutoContinue(int);
-    void changeOrbitalState(int state);
+    void changedFrame(int state);
+    void changedAction(int state);
    void changedCurrent(int);
    void updateValues(void);

--- a/src/ui/WaypointView.ui
+++ b/src/ui/WaypointView.ui