Merge pull request #1872 from DonLakeFlyer/MissionWork2

Add relative altitude support

src/MissionEditor/MissionEditor.qml

@@ -153,14 +153,6 @@ QGCView {
 
                                 onTriggered: controller.setMissionItems()
                             }
-
-                            MenuItem {
-                                text: "Load mission items from disk"
-                            }
-
-                            MenuItem {
-                                text: "Save mission items to disk"
-                            }
                         }
                     }
 
@@ -198,6 +190,17 @@ QGCView {
                                 onMoveDown: controller.moveDown(object.sequenceNumber)
                             }
                     } // ListView
+
+                    QGCLabel {
+                        anchors.topMargin:  _verticalMargin
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        toolsButton.bottom
+                        anchors.bottom:     parent.bottom
+                        visible:            controller.missionItems.count == 0
+                        wrapMode:           Text.WordWrap
+                        text:               "Click in the map to add Mission Items"
+                    }
                 } // Item
             } // Rectangle - mission item list
         } // Item - split view container

src/MissionItem.cc

@@ -34,6 +34,23 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionItem.h"
 
+
+QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
+{
+    QDebugStateSaver saver(dbg);
+    dbg.nospace() << "MissionItem(" << missionItem.coordinate() << ")";
+    
+    return dbg;
+}
+
+QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
+{
+    QDebugStateSaver saver(dbg);
+    dbg.nospace() << "MissionItem(" << missionItem->coordinate() << ")";
+    
+    return dbg;
+}
+
 const MissionItem::MavCmd2Name_t  MissionItem::_rgMavCmd2Name[_cMavCmd2Name] = {
     { MAV_CMD_NAV_WAYPOINT,         "Waypoint" },
     { MAV_CMD_NAV_LOITER_UNLIM,     "Loiter" },
@@ -59,20 +76,24 @@ MissionItem::MissionItem(QObject*       parent,
                          int            command)
     : QObject(parent)
     , _sequenceNumber(sequenceNumber)
-    , _coordinate(coordinate)
-    , _frame(frame)
     , _command((MavlinkQmlSingleton::Qml_MAV_CMD)command)
     , _autocontinue(autocontinue)
     , _isCurrentItem(isCurrentItem)
     , _reachedTime(0)
     , _yawRadiansFact(NULL)
 {
+    _latitudeFact                   = new Fact(0, "Latitude:",                      FactMetaData::valueTypeDouble, this);
+    _longitudeFact                  = new Fact(0, "Longitude:",                     FactMetaData::valueTypeDouble, this);
+    _altitudeFact                   = new Fact(0, "Altitude:",                      FactMetaData::valueTypeDouble, this);
+    _yawRadiansFact                 = new Fact(0, "Heading:",                       FactMetaData::valueTypeDouble, this);
+    _loiterOrbitRadiusFact          = new Fact(0, "Radius:",                        FactMetaData::valueTypeDouble, this);
+    _param1Fact                     = new Fact(0, QString(),                        FactMetaData::valueTypeDouble, this);
+    _param2Fact                     = new Fact(0, QString(),                        FactMetaData::valueTypeDouble, this);
+    _altitudeRelativeToHomeFact     = new Fact(0, "Altitude is relative to home",   FactMetaData::valueTypeDouble, this);
 
-    _yawRadiansFact         = new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
-    _loiterOrbitRadiusFact  = new Fact(0, "Radius:",  FactMetaData::valueTypeDouble, this);
-    _param1Fact             = new Fact(0, QString(),  FactMetaData::valueTypeDouble, this);
-    _param2Fact             = new Fact(0, QString(),  FactMetaData::valueTypeDouble, this);
+    setFrame(frame);
     
+    setCoordinate(coordinate);
     setParam1(param1);
     setParam2(param2);
     setYawRadians(param4);
@@ -80,11 +101,20 @@ MissionItem::MissionItem(QObject*       parent,
     
     // FIXME: Need to fill out more meta data
     
-    FactMetaData* yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
-    yawMetaData->setUnits("degrees");
+    FactMetaData* latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _latitudeFact);
+    latitudeMetaData->setUnits("deg");
+    
+    FactMetaData* longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _longitudeFact);
+    longitudeMetaData->setUnits("deg");
+    
+    FactMetaData* altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _altitudeFact);
+    altitudeMetaData->setUnits("meters");
+    
+    FactMetaData* yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, _yawRadiansFact);
+    yawMetaData->setUnits("deg");
     
     _pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
-    _pitchMetaData->setUnits("degrees");
+    _pitchMetaData->setUnits("deg");
     
     _acceptanceRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
     _acceptanceRadiusMetaData->setUnits("meters");
@@ -110,6 +140,9 @@ MissionItem::MissionItem(QObject*       parent,
     _jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
     _jumpRepeatMetaData->setUnits("count");
     
+    _latitudeFact->setMetaData(latitudeMetaData);
+    _longitudeFact->setMetaData(longitudeMetaData);
+    _altitudeFact->setMetaData(altitudeMetaData);
     _yawRadiansFact->setMetaData(yawMetaData);
     _loiterOrbitRadiusFact->setMetaData(loiterOrbitRadiusMetaData);
 }
@@ -117,10 +150,14 @@ MissionItem::MissionItem(QObject*       parent,
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     : QObject(parent)
 {
-    _yawRadiansFact         = new Fact(this);
-    _loiterOrbitRadiusFact  = new Fact(this);
-    _param1Fact             = new Fact(this);
-    _param2Fact             = new Fact(this);
+    _latitudeFact               = new Fact(this);
+    _longitudeFact              = new Fact(this);
+    _altitudeFact               = new Fact(this);
+    _yawRadiansFact             = new Fact(this);
+    _loiterOrbitRadiusFact      = new Fact(this);
+    _param1Fact                 = new Fact(this);
+    _param2Fact                 = new Fact(this);
+    _altitudeRelativeToHomeFact = new Fact(this);
     
     _pitchMetaData = new FactMetaData(this);
     
@@ -141,14 +178,17 @@ MissionItem::~MissionItem()
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
 {
-    _sequenceNumber = other._sequenceNumber;
-    _isCurrentItem  = other._isCurrentItem;
-    _coordinate     = other._coordinate;
-    _frame          = other._frame;
-    _command        = other._command;
-    _autocontinue   = other._autocontinue;
-    _reachedTime    = other._reachedTime;
+    _sequenceNumber             = other._sequenceNumber;
+    _isCurrentItem              = other._isCurrentItem;
+    _frame                      = other._frame;
+    _command                    = other._command;
+    _autocontinue               = other._autocontinue;
+    _reachedTime                = other._reachedTime;
+    _altitudeRelativeToHomeFact = other._altitudeRelativeToHomeFact;
     
+    *_latitudeFact              = *other._latitudeFact;
+    *_longitudeFact             = *other._longitudeFact;
+    *_altitudeFact              = *other._altitudeFact;
     *_yawRadiansFact            = *other._yawRadiansFact;
     *_loiterOrbitRadiusFact     = *other._loiterOrbitRadiusFact;
     *_param1Fact                = *other._param1Fact;
@@ -190,7 +230,7 @@ bool MissionItem::load(QTextStream &loadStream)
     if (wpParams.size() == 12) {
         setSequenceNumber(wpParams[0].toInt());
         setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
-        _frame = (MAV_FRAME) wpParams[2].toInt();
+        setFrame(wpParams[2].toInt());
         setAction(wpParams[3].toInt());
         setParam1(wpParams[4].toDouble());
         setParam2(wpParams[5].toDouble());
@@ -239,9 +279,9 @@ void MissionItem::setZ(double z)
 
 void MissionItem::setLatitude(double lat)
 {
-    if (_coordinate.latitude() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_latitudeFact->value().toDouble() != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _coordinate.setLatitude(lat);
+        _latitudeFact->setValue(lat);
         emit changed(this);
         emit coordinateChanged(coordinate());
     }
@@ -249,9 +289,9 @@ void MissionItem::setLatitude(double lat)
 
 void MissionItem::setLongitude(double lon)
 {
-    if (_coordinate.longitude() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_longitudeFact->value().toDouble() != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _coordinate.setLongitude(lon);
+        _longitudeFact->setValue(lon);
         emit changed(this);
         emit coordinateChanged(coordinate());
     }
@@ -259,9 +299,9 @@ void MissionItem::setLongitude(double lon)
 
 void MissionItem::setAltitude(double altitude)
 {
-    if (_coordinate.altitude() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_altitudeFact->value().toDouble() != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        _coordinate.setAltitude(altitude);
+        _altitudeFact->setValue(altitude);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
         emit coordinateChanged(coordinate());
@@ -283,15 +323,24 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
         emit changed(this);
         emit commandNameChanged(commandName());
         emit commandChanged((MavlinkQmlSingleton::Qml_MAV_CMD)_command);
-        emit specifiesCoordinateChanged(specifiesCoordinate());
         emit valueLabelsChanged(valueLabels());
         emit valueStringsChanged(valueStrings());
     }
 }
 
+int MissionItem::frame(void) const
+{
+    if (_altitudeRelativeToHomeFact->value().toBool()) {
+        return MAV_FRAME_GLOBAL_RELATIVE_ALT;
+    } else {
+        return _frame;
+    }
+}
+
 void MissionItem::setFrame(int /*MAV_FRAME*/ frame)
 {
     if (_frame != frame) {
+        _altitudeRelativeToHomeFact->setValue(_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT);
         _frame = frame;
         emit changed(this);
     }
@@ -350,29 +399,17 @@ void MissionItem::setParam4(double param4)
 
 void MissionItem::setParam5(double param5)
 {
-    if (_coordinate.latitude() != param5) {
-        _coordinate.setLatitude(param5);
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
+    setLatitude(param5);
 }
 
 void MissionItem::setParam6(double param6)
 {
-    if (_coordinate.longitude() != param6) {
-        _coordinate.setLongitude(param6);
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
+    setLongitude(param6);
 }
 
 void MissionItem::setParam7(double param7)
 {
-    if (_coordinate.altitude() != param7) {
-        _coordinate.setAltitude(param7);
-        emit valueStringsChanged(valueStrings());
-        emit changed(this);
-    }
+    setAltitude(param7);
 }
 
 void MissionItem::setLoiterOrbitRadius(double radius)
@@ -509,7 +546,7 @@ QStringList MissionItem::valueStrings(void)
     
     switch (_command) {
         case MAV_CMD_NAV_WAYPOINT:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawDegrees()) << _oneDecimalString(param2()) << _oneDecimalString(param1());
+            list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(yawDegrees()) << _oneDecimalString(param2()) << _oneDecimalString(param1());
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
             list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius());
@@ -523,10 +560,10 @@ QStringList MissionItem::valueStrings(void)
         case MAV_CMD_NAV_RETURN_TO_LAUNCH:
             break;
         case MAV_CMD_NAV_LAND:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawRadians() * (180.0 / M_PI));
+            list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(yawRadians() * (180.0 / M_PI));
             break;
         case MAV_CMD_NAV_TAKEOFF:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(param1());
+            list << _oneDecimalString(_altitudeFact->value().toDouble()) << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(param1());
             break;
         case MAV_CMD_CONDITION_DELAY:
             list << _oneDecimalString(param1());
@@ -541,13 +578,6 @@ QStringList MissionItem::valueStrings(void)
     return list;
 }
 
-void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
-{
-    _coordinate = coordinate;
-    emit coordinateChanged(coordinate);
-    emit changed(this);
-}
-
 QStringList MissionItem::commandNames(void) {
     QStringList list;
     
@@ -579,7 +609,7 @@ void MissionItem::setCommandByIndex(int index)
     setCommand((MavlinkQmlSingleton::Qml_MAV_CMD)_rgMavCmd2Name[index].command);
 }
 
-QmlObjectListModel* MissionItem::facts(void)
+QmlObjectListModel* MissionItem::textFieldFacts(void)
 {
     QmlObjectListModel* model = new QmlObjectListModel(this);
     
@@ -589,17 +619,26 @@ QmlObjectListModel* MissionItem::facts(void)
             _param2Fact->setMetaData(_acceptanceRadiusMetaData);
             _param1Fact->_setName("Hold:");
             _param1Fact->setMetaData(_holdTimeMetaData);
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             model->append(_param2Fact);
             model->append(_param1Fact);
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             model->append(_loiterOrbitRadiusFact);
             break;
         case MAV_CMD_NAV_LOITER_TURNS:
             _param1Fact->_setName("Turns:");
             _param1Fact->setMetaData(_loiterTurnsMetaData);
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             model->append(_loiterOrbitRadiusFact);
             model->append(_param1Fact);
@@ -607,18 +646,25 @@ QmlObjectListModel* MissionItem::facts(void)
         case MAV_CMD_NAV_LOITER_TIME:
             _param1Fact->_setName("Seconds:");
             _param1Fact->setMetaData(_loiterSecondsMetaData);
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             model->append(_loiterOrbitRadiusFact);
             model->append(_param1Fact);
             break;
-        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-            break;
         case MAV_CMD_NAV_LAND:
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             break;
         case MAV_CMD_NAV_TAKEOFF:
             _param1Fact->_setName("Pitch:");
             _param1Fact->setMetaData(_pitchMetaData);
+            model->append(_latitudeFact);
+            model->append(_longitudeFact);
+            model->append(_altitudeFact);
             model->append(_yawRadiansFact);
             model->append(_param1Fact);
             break;
@@ -642,30 +688,36 @@ QmlObjectListModel* MissionItem::facts(void)
     return model;
 }
 
-int MissionItem::factCount(void)
+QmlObjectListModel* MissionItem::checkboxFacts(void)
 {
+    QmlObjectListModel* model = new QmlObjectListModel(this);
+    
     switch ((MAV_CMD)_command) {
         case MAV_CMD_NAV_WAYPOINT:
-            return 3;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         case MAV_CMD_NAV_LOITER_UNLIM:
-            return 2;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         case MAV_CMD_NAV_LOITER_TURNS:
-            return 3;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         case MAV_CMD_NAV_LOITER_TIME:
-            return 3;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-            return 0;
+            break;
         case MAV_CMD_NAV_LAND:
-            return 1;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         case MAV_CMD_NAV_TAKEOFF:
-            return 2;
-        case MAV_CMD_CONDITION_DELAY:
-            return 1;
-        case MAV_CMD_DO_JUMP:
-            return 2;
+            model->append(_altitudeRelativeToHomeFact);
+            break;
         default:
-            return 0;
+            break;
     }
+    
+    return model;
 }
 
 double MissionItem::yawRadians(void) const
@@ -695,3 +747,14 @@ void MissionItem::setYawDegrees(double yaw)
     setYawRadians(yaw * (M_PI / 180.0));
 }
 
+QGeoCoordinate MissionItem::coordinate(void) const
+{
+    return QGeoCoordinate(latitude(), longitude(), altitude());
+}
+
+void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    setLatitude(coordinate.latitude());
+    setLongitude(coordinate.longitude());
+    setAltitude(coordinate.altitude());
+}

src/MissionItem.h

@@ -60,7 +60,7 @@ public:
     
     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(bool                 specifiesCoordinate READ specifiesCoordinate                            NOTIFY commandChanged)
     Q_PROPERTY(QGeoCoordinate       coordinate          READ coordinate             WRITE setCoordinate     NOTIFY coordinateChanged)
     Q_PROPERTY(double               yaw                 READ yawDegrees             WRITE setYawDegrees     NOTIFY yawChanged)
     Q_PROPERTY(QStringList          commandNames        READ commandNames                                   CONSTANT)
@@ -68,8 +68,8 @@ public:
     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(QmlObjectListModel*  facts               READ facts                                          NOTIFY commandChanged)
-    Q_PROPERTY(int                  factCount           READ factCount                                      NOTIFY commandChanged)
+    Q_PROPERTY(QmlObjectListModel*  textFieldFacts      READ textFieldFacts                                 NOTIFY commandChanged)
+    Q_PROPERTY(QmlObjectListModel*  checkboxFacts       READ checkboxFacts                                  NOTIFY commandChanged)
     Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ command                WRITE setCommand        NOTIFY commandChanged)
     
     // Property accesors
@@ -82,7 +82,7 @@ public:
     
     bool specifiesCoordinate(void) const;
     
-    QGeoCoordinate coordinate(void) const { return _coordinate; }
+    QGeoCoordinate coordinate(void) const;
     void setCoordinate(const QGeoCoordinate& coordinate);
     
     QStringList commandNames(void);
@@ -97,17 +97,17 @@ public:
     QStringList valueLabels(void);
     QStringList valueStrings(void);
     
-    QmlObjectListModel* facts(void);
-    int factCount(void);
+    QmlObjectListModel* textFieldFacts(void);
+    QmlObjectListModel* checkboxFacts(void);
     
     double yawDegrees(void) const;
     void setYawDegrees(double yaw);
     
     // C++ only methods
 
-    double latitude(void)  const { return _coordinate.latitude(); }
-    double longitude(void) const { return _coordinate.longitude(); }
-    double altitude(void)  const { return _coordinate.altitude(); }
+    double latitude(void)  const { return _latitudeFact->value().toDouble(); }
+    double longitude(void) const { return _longitudeFact->value().toDouble(); }
+    double altitude(void)  const { return _altitudeFact->value().toDouble(); }
     
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -158,9 +158,8 @@ public:
         return altitude();
     }
     // MAV_FRAME
-    int frame() const {
-        return _frame;
-    }
+    int frame() const;
+    
     // MAV_CMD
     int command() const {
         return _command;
@@ -176,7 +175,6 @@ public:
     
 signals:
     void sequenceNumberChanged(int sequenceNumber);
-    void specifiesCoordinateChanged(bool specifiesCoordinate);
     void isCurrentItemChanged(bool isCurrentItem);
     void coordinateChanged(const QGeoCoordinate& coordinate);
     void yawChanged(double yaw);
@@ -226,17 +224,20 @@ private:
     } MavCmd2Name_t;
     
     int                                 _sequenceNumber;
-    QGeoCoordinate                      _coordinate;
     int                                 _frame;
     MavlinkQmlSingleton::Qml_MAV_CMD    _command;
     bool                                _autocontinue;
     bool                                _isCurrentItem;
     quint64                             _reachedTime;
     
+    Fact*           _latitudeFact;
+    Fact*           _longitudeFact;
+    Fact*           _altitudeFact;
     Fact*           _yawRadiansFact;
     Fact*           _loiterOrbitRadiusFact;
     Fact*           _param1Fact;
     Fact*           _param2Fact;
+    Fact*           _altitudeRelativeToHomeFact;
     
     FactMetaData*   _pitchMetaData;
     FactMetaData*   _acceptanceRadiusMetaData;
@@ -251,4 +252,7 @@ private:
     static const MavCmd2Name_t  _rgMavCmd2Name[_cMavCmd2Name];
 };
 
+QDebug operator<<(QDebug dbg, const MissionItem& missionItem);
+QDebug operator<<(QDebug dbg, const MissionItem* missionItem);
+
 #endif

src/QmlControls/MissionItemEditor.qml

@@ -20,13 +20,14 @@ Rectangle {
     signal moveUp
     signal moveDown
 
-// FIXME: THis doesn't work right for RTL
     height: missionItem.isCurrentItem ?
-                ((missionItem.factCount + (missionItem.specifiesCoordinate ? 3 : 0)) * (latitudeField.height + _margin)) + commandPicker.height + deleteButton.height + (_margin * 6) :
+                (missionItem.textFieldFacts.count * (measureTextField.height + _margin)) +
+                    (missionItem.checkboxFacts.count * (measureCheckbox.height + _margin)) +
+                    commandPicker.height + deleteButton.height + (_margin * 9) :
                 commandPicker.height + (_margin * 2)
     color:  missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
 
-    readonly property real _editFieldWidth:     ScreenTools.defaultFontPixelWidth * 13
+    readonly property real _editFieldWidth:     ScreenTools.defaultFontPixelWidth * 16
     readonly property real _margin:             ScreenTools.defaultFontPixelWidth / 3
 
     QGCPalette {
@@ -34,6 +35,16 @@ Rectangle {
         colorGroupEnabled: enabled
     }
 
+    QGCTextField {
+        id:         measureTextField
+        visible:    false
+    }
+
+    QGCCheckBox {
+        id:         measureCheckbox
+        visible:    false
+    }
+
     Item {
         anchors.margins:    _margin
         anchors.fill:       parent
@@ -65,7 +76,7 @@ Rectangle {
         }
 
         Rectangle {
-            anchors.margins:    _margin
+            anchors.topMargin:  _margin
             anchors.top:        commandPicker.bottom
             anchors.bottom:     parent.bottom
             anchors.left:       parent.left
@@ -77,76 +88,18 @@ Rectangle {
                 anchors.margins:    _margin
                 anchors.fill:   parent
 
-                QGCTextField {
-                    id:             latitudeField
-                    anchors.right:  parent.right
-                    width:          _editFieldWidth
-                    text:           missionItem.coordinate.latitude
-                    visible:        missionItem.specifiesCoordinate
-
-                    onAccepted:     missionItem.coordinate.latitude = text
-                }
-
-                QGCTextField {
-                    id:                 longitudeField
-                    anchors.topMargin:  _margin
-                    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.topMargin:  _margin
-                    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.left:       parent.left
-                    anchors.baseline:   latitudeField.baseline
-                    text:               "Lat:"
-                    visible:            missionItem.specifiesCoordinate
-                }
-
-                QGCLabel {
-                    anchors.left:       parent.left
-                    anchors.baseline:   longitudeField.baseline
-                    text:               "Long:"
-                    visible:            missionItem.specifiesCoordinate
-                }
-
-                QGCLabel {
-                    anchors.left:       parent.left
-                    anchors.baseline:   altitudeField.baseline
-                    text:               "Alt:"
-                    visible:            missionItem.specifiesCoordinate
-                }
-
                 Column {
-                    id:                 valueColumn
-                    anchors.topMargin:  _margin
-                    anchors.left:       parent.left
-                    anchors.right:      parent.right
-                    anchors.top:        missionItem.specifiesCoordinate ? altitudeField.bottom : parent.top
-                    spacing:            _margin
+                    id:             valuesColumn
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    anchors.top:    parent.top
+                    spacing:        _margin
 
                     Repeater {
-                        model: missionItem.facts
+                        model: missionItem.textFieldFacts
 
                         Item {
-                            width:  valueColumn.width
+                            width:  valuesColumn.width
                             height: textField.height
 
                             QGCLabel {
@@ -163,39 +116,57 @@ Rectangle {
                             }
                         }
                     }
-                } // Column - Values column
-
-                Row {
-                    anchors.topMargin:  _margin
-                    anchors.top:        valueColumn.bottom
 
-                    width:      parent.width
-                    spacing:    _margin
+                    Item {
+                        width:  10
+                        height: missionItem.textFieldFacts.count ? _margin : 0
+                    }
 
-                    readonly property real buttonWidth: (width - (_margin * 2)) / 3
+                    Repeater {
+                        model: missionItem.checkboxFacts
 
-                    QGCButton {
-                        id:     deleteButton
-                        width:  parent.buttonWidth
-                        text:   "Delete"
+                        FactCheckBox {
+                            id:     textField
+                            text:   object.name
+                            fact:   object
+                        }
+                    }
 
-                        onClicked: _root.remove()
+                    Item {
+                        width:  10
+                        height: missionItem.checkboxFacts.count ? _margin : 0
                     }
 
-                    QGCButton {
-                        width:  parent.buttonWidth
-                        text:   "Up"
+                    Row {
+                        width:      parent.width
+                        spacing:    _margin
 
-                        onClicked: _root.moveUp()
-                    }
+                        readonly property real buttonWidth: (width - (_margin * 2)) / 3
+
+                        QGCButton {
+                            id:     deleteButton
+                            width:  parent.buttonWidth
+                            text:   "Delete"
+
+                            onClicked: _root.remove()
+                        }
 
-                    QGCButton {
-                        width:  parent.buttonWidth
-                        text:   "Down"
+                        QGCButton {
+                            width:  parent.buttonWidth
+                            text:   "Up"
 
-                        onClicked: _root.moveDown()
+                            onClicked: _root.moveUp()
+                        }
+
+                        QGCButton {
+                            width:  parent.buttonWidth
+                            text:   "Down"
+
+                            onClicked: _root.moveDown()
+                        }
                     }
-                }
+
+                } // Column
             } // Item
         } // Rectangle
     } // Item

src/QmlControls/QmlObjectListModel.cc

@@ -117,7 +117,6 @@ bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& p
         //_objectList[position]->deleteLater();
         _objectList.removeAt(position);
     }
-    qDebug() << _objectList;
     endRemoveRows();
     
     emit countChanged(count());

src/QmlControls/QmlObjectListModel.h

@@ -46,6 +46,13 @@ public:
     QObject* operator[](int i);
     const QObject* operator[](int i) const;
     
+    template <class T>
+    const QList<T*>& list(void) { return *((QList<T*>*)((void*)(&_objectList))); }
+    
+signals:
+    void countChanged(int count);
+    
+private:
     // Overrides from QAbstractListModel
     virtual int	rowCount(const QModelIndex & parent = QModelIndex()) const;
     virtual QVariant data(const QModelIndex & index, int role = Qt::DisplayRole) const;
@@ -53,9 +60,6 @@ public:
     virtual bool insertRows(int position, int rows, const QModelIndex &index = QModelIndex());
     virtual bool removeRows(int position, int rows, const QModelIndex &index = QModelIndex());
     virtual bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole);
-    
-signals:
-    void countChanged(int count);
 	
 private:
     QList<QObject*> _objectList;

src/Vehicle/Vehicle.cc

@@ -936,5 +936,9 @@ void Vehicle::setActive(bool active)
 
 QmlObjectListModel* Vehicle::missionItemsModel(void)
 {
-    return &_missionItems;
+    if (qgcApp()->useNewMissionEditor()) {
+        return missionManager()->missionItems();
+    } else {
+        return &_missionItems;
+    }
 }