Merge pull request #1860 from DonLakeFlyer/MissionWork

Mission work

src/FactSystem/Fact.cc

@@ -28,25 +28,49 @@
 
 #include <QtQml>
 
-Fact::Fact(void) :
-    _componentId(-1),
-    _value(0),
-    _type(FactMetaData::valueTypeInt32),
-    _metaData(NULL)
+Fact::Fact(QObject* parent)
+    : QObject(parent)
+    , _componentId(-1)
+    , _value(0)
+    , _type(FactMetaData::valueTypeInt32)
+    , _metaData(NULL)
 {    
     FactMetaData* metaData = new FactMetaData(_type, this);
     setMetaData(metaData);
 }
 
-Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _componentId(componentId),
-    _value(0),
-    _type(type),
-    _metaData(NULL)
+Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent)
+    : QObject(parent)
+    , _name(name)
+    , _componentId(componentId)
+    , _value(0)
+    , _type(type)
+    , _metaData(NULL)
 {
+    FactMetaData* metaData = new FactMetaData(_type, this);
+    setMetaData(metaData);
+}
 
+Fact::Fact(const Fact& other, QObject* parent)
+    : QObject(parent)
+{
+    *this = other;
+}
+
+const Fact& Fact::operator=(const Fact& other)
+{
+    _name           = other._name;
+    _componentId    = other._componentId;
+    _value          = other._value;
+    _type           = other._type;
+    
+    if (_metaData && other._metaData) {
+        *_metaData = *other._metaData;
+    } else {
+        _metaData = NULL;
+    }
+    
+    return *this;
 }
 
 void Fact::forceSetValue(const QVariant& value)

src/FactSystem/Fact.h

@@ -40,9 +40,12 @@ class Fact : public QObject
     Q_OBJECT
     
 public:
-    Fact(void);
+    Fact(QObject* parent = NULL);
     Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
-    
+    Fact(const Fact& other, QObject* parent = NULL);
+
+    const Fact& operator=(const Fact& other);
+
     Q_PROPERTY(int componentId READ componentId CONSTANT)
     Q_PROPERTY(QString name READ name CONSTANT)
     Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true)

src/FactSystem/FactMetaData.cc

@@ -32,6 +32,20 @@
 
 #include <limits>
 
+FactMetaData::FactMetaData(QObject* parent) :
+    QObject(parent),
+    _group("*Default Group"),
+    _type(valueTypeInt32),
+    _defaultValue(0),
+    _defaultValueAvailable(false),
+    _min(_minForType()),
+    _max(_maxForType()),
+    _minIsDefaultForType(true),
+    _maxIsDefaultForType(true)
+{
+
+}
+
 FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
     QObject(parent),
     _group("*Default Group"),
@@ -46,6 +60,26 @@ FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
 
 }
 
+FactMetaData::FactMetaData(const FactMetaData& other, QObject* parent)
+    : QObject(parent)
+{
+    *this = other;
+}
+
+const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
+{
+    _group                  = other._group;
+    _type                   = other._type;
+    _defaultValue           = other._defaultValue;
+    _defaultValueAvailable  = other._defaultValueAvailable;
+    _min                    = other._min;
+    _max                    = other._max;
+    _minIsDefaultForType    = other._minIsDefaultForType;
+    _maxIsDefaultForType    = other._maxIsDefaultForType;
+    
+    return *this;
+}
+
 QVariant FactMetaData::defaultValue(void)
 {
     if (_defaultValueAvailable) {

src/FactSystem/FactMetaData.h

@@ -52,7 +52,11 @@ public:
         valueTypeDouble
     } ValueType_t;
     
+    FactMetaData(QObject* parent = NULL);
     FactMetaData(ValueType_t type, QObject* parent = NULL);
+    FactMetaData(const FactMetaData& other, QObject* parent = NULL);
+
+    const FactMetaData& operator=(const FactMetaData& other);
     
 	// Property accessors
     QString     name(void)                      { return _name; }

src/MissionItem.cc

@@ -60,28 +60,28 @@ MissionItem::MissionItem(QObject*       parent,
     : QObject(parent)
     , _sequenceNumber(sequenceNumber)
     , _coordinate(coordinate)
-    , _yawRadians(param4)
     , _frame(frame)
     , _action(action)
     , _autocontinue(autocontinue)
     , _isCurrentItem(isCurrentItem)
-    , _orbit(param3)
-    , _param1(param1)
-    , _param2(param2)
     , _reachedTime(0)
-    , _yawFact(NULL)
+    , _yawRadiansFact(NULL)
 {
 
-    _yawFact =          new Fact(0, "Heading:", FactMetaData::valueTypeDouble, this);
-    _pitchFact =        new Fact(0, "Pitch:",   FactMetaData::valueTypeDouble, this);
-    _loiterRadiusFact = new Fact(0, "Radius:",  FactMetaData::valueTypeDouble, this);
-    _param1Fact =       new Fact(0, QString(),  FactMetaData::valueTypeDouble, this);
-    _param2Fact =       new Fact(0, QString(),  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);
+    
+    setParam1(param1);
+    setParam2(param2);
+    setYawRadians(param4);
+    setLoiterOrbitRadius(param3);
     
     // FIXME: Need to fill out more meta data
     
-    _yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
-    _yawMetaData->setUnits("degrees");
+    FactMetaData* yawMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    yawMetaData->setUnits("degrees");
     
     _pitchMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
     _pitchMetaData->setUnits("degrees");
@@ -92,8 +92,8 @@ MissionItem::MissionItem(QObject*       parent,
     _holdTimeMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
     _holdTimeMetaData->setUnits("seconds");
     
-    _loiterRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
-    _loiterRadiusMetaData->setUnits("meters");
+    FactMetaData* loiterOrbitRadiusMetaData = new FactMetaData(FactMetaData::valueTypeDouble, this);
+    loiterOrbitRadiusMetaData->setUnits("meters");
     
     _loiterTurnsMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
     _loiterTurnsMetaData->setUnits("count");
@@ -110,14 +110,28 @@ MissionItem::MissionItem(QObject*       parent,
     _jumpRepeatMetaData = new FactMetaData(FactMetaData::valueTypeInt32, this);
     _jumpRepeatMetaData->setUnits("count");
     
-    _yawFact->setMetaData(_yawMetaData);
-    _pitchFact->setMetaData(_pitchMetaData);
-    _loiterRadiusFact->setMetaData(_loiterRadiusMetaData);
+    _yawRadiansFact->setMetaData(yawMetaData);
+    _loiterOrbitRadiusFact->setMetaData(loiterOrbitRadiusMetaData);
 }
 
-MissionItem::MissionItem(const MissionItem& other)
-    : QObject(NULL)
+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);
+    
+    _pitchMetaData = new FactMetaData(this);
+    
+    _acceptanceRadiusMetaData = new FactMetaData(this);
+    _holdTimeMetaData = new FactMetaData(this);
+    _loiterTurnsMetaData = new FactMetaData(this);
+    _loiterSecondsMetaData = new FactMetaData(this);
+    _delaySecondsMetaData = new FactMetaData(this);
+    _jumpSequenceMetaData = new FactMetaData(this);
+    _jumpRepeatMetaData = new FactMetaData(this);
+
     *this = other;
 }
 
@@ -130,15 +144,25 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     _sequenceNumber = other._sequenceNumber;
     _isCurrentItem  = other._isCurrentItem;
     _coordinate     = other._coordinate;
-    _yawRadians            = other._yawRadians;
     _frame          = other._frame;
     _action         = other._action;
     _autocontinue   = other._autocontinue;
-    _orbit          = other._orbit;
-    _param1         = other._param1;
-    _param2         = other._param2;
     _reachedTime    = other._reachedTime;
     
+    *_yawRadiansFact            = *other._yawRadiansFact;
+    *_loiterOrbitRadiusFact     = *other._loiterOrbitRadiusFact;
+    *_param1Fact                = *other._param1Fact;
+    *_param2Fact                = *other._param2Fact;
+    
+    *_pitchMetaData             = *other._pitchMetaData;
+    *_acceptanceRadiusMetaData  = *other._acceptanceRadiusMetaData;
+    *_holdTimeMetaData          = *other._holdTimeMetaData;
+    *_loiterTurnsMetaData       = *other._loiterTurnsMetaData;
+    *_loiterSecondsMetaData     = *other._loiterSecondsMetaData;
+    *_delaySecondsMetaData      = *other._delaySecondsMetaData;
+    *_jumpSequenceMetaData      = *other._jumpSequenceMetaData;
+    *_jumpRepeatMetaData        = *other._jumpRepeatMetaData;
+    
     return *this;
 }
 
@@ -154,7 +178,7 @@ void MissionItem::save(QTextStream &saveStream)
     position = position.arg(y(), 0, 'g', 18);
     position = position.arg(z(), 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
-    parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yawRadians, 0, 'g', 18);
+    parameters = parameters.arg(getParam2(), 0, 'g', 18).arg(getParam2(), 0, 'g', 18).arg(loiterOrbitRadius(), 0, 'g', 18).arg(yawRadians(), 0, 'g', 18);
     // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
     saveStream << this->sequenceNumber() << "\t" << this->isCurrentItem() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
@@ -168,9 +192,9 @@ bool MissionItem::load(QTextStream &loadStream)
         setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
         _frame = (MAV_FRAME) wpParams[2].toInt();
         _action = (MAV_CMD) wpParams[3].toInt();
-        _param1 = wpParams[4].toDouble();
-        _param2 = wpParams[5].toDouble();
-        _orbit = wpParams[6].toDouble();
+        setParam1(wpParams[4].toDouble());
+        setParam2(wpParams[5].toDouble());
+        setLoiterOrbitRadius(wpParams[6].toDouble());
         setYawRadians(wpParams[7].toDouble());
         setLatitude(wpParams[8].toDouble());
         setLongitude(wpParams[9].toDouble());
@@ -253,7 +277,7 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
 
         if (_action == MAV_CMD_NAV_TAKEOFF) {
             // We default to 15 degrees minimum takeoff pitch
-            _param1 = 15.0;
+            setParam1(15.0);
         }
 
         emit changed(this);
@@ -291,21 +315,14 @@ void MissionItem::setIsCurrentItem(bool isCurrentItem)
 
 void MissionItem::setAcceptanceRadius(double radius)
 {
-    if (_param2 != radius)
-    {
-        _param2 = radius;
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
+    setParam2(radius);
 }
 
 void MissionItem::setParam1(double param1)
 {
-    //// // qDebug() << "SENDER:" << QObject::sender();
-    //// // qDebug() << "PARAM1 SET REQ:" << param1;
-    if (_param1 != param1)
+    if (getParam1() != param1)
     {
-        _param1 = param1;
+        _param1Fact->setValue(param1);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
     }
@@ -313,9 +330,9 @@ void MissionItem::setParam1(double param1)
 
 void MissionItem::setParam2(double param2)
 {
-    if (_param2 != param2)
+    if (getParam2() != param2)
     {
-        _param2 = param2;
+        _param2Fact->setValue(param2);
         emit valueStringsChanged(valueStrings());
         emit changed(this);
     }
@@ -323,20 +340,12 @@ void MissionItem::setParam2(double param2)
 
 void MissionItem::setParam3(double param3)
 {
-    if (_orbit != param3) {
-        _orbit = param3;
-        emit valueStringsChanged(valueStrings());
-        emit changed(this);
-    }
+    setLoiterOrbitRadius(param3);
 }
 
 void MissionItem::setParam4(double param4)
 {
-    if (_yawRadians != param4) {
-        _yawRadians = param4;
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
+    setYawRadians(param4);
 }
 
 void MissionItem::setParam5(double param5)
@@ -366,10 +375,10 @@ void MissionItem::setParam7(double param7)
     }
 }
 
-void MissionItem::setLoiterOrbit(double orbit)
+void MissionItem::setLoiterOrbitRadius(double radius)
 {
-    if (_orbit != orbit) {
-        _orbit = orbit;
+    if (loiterOrbitRadius() != radius) {
+        _loiterOrbitRadiusFact->setValue(radius);
         emit valueStringsChanged(valueStrings());
         emit changed(this);
     }
@@ -377,20 +386,12 @@ void MissionItem::setLoiterOrbit(double orbit)
 
 void MissionItem::setHoldTime(int holdTime)
 {
-    if (_param1 != holdTime) {
-        _param1 = holdTime;
-        emit valueStringsChanged(valueStrings());
-        emit changed(this);
-    }
+    setParam1(holdTime);
 }
 
 void MissionItem::setHoldTime(double holdTime)
 {
-    if (_param1 != holdTime) {
-        _param1 = holdTime;
-        emit changed(this);
-        emit valueStringsChanged(valueStrings());
-    }
+    setParam1(holdTime);
 }
 
 bool MissionItem::specifiesCoordinate(void) const
@@ -508,30 +509,30 @@ QStringList MissionItem::valueStrings(void)
     
     switch (_action) {
         case MAV_CMD_NAV_WAYPOINT:
-            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_param2) << _oneDecimalString(_param1);
+            list << _oneDecimalString(_coordinate.altitude()) << _oneDecimalString(yawDegrees()) << _oneDecimalString(getParam2()) << _oneDecimalString(getParam1());
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
-            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit);
+            list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius());
             break;
         case MAV_CMD_NAV_LOITER_TURNS:
-            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
+            list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(getParam1());
             break;
         case MAV_CMD_NAV_LOITER_TIME:
-            list << _oneDecimalString(_yawRadians * (180.0 / M_PI)) << _oneDecimalString(_orbit) << _oneDecimalString(_param1);
+            list << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(loiterOrbitRadius()) << _oneDecimalString(getParam1());
             break;
         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(_coordinate.altitude()) << _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(_coordinate.altitude()) << _oneDecimalString(yawRadians() * (180.0 / M_PI)) << _oneDecimalString(getParam1());
             break;
         case MAV_CMD_CONDITION_DELAY:
-            list << _oneDecimalString(_param1);
+            list << _oneDecimalString(getParam1());
             break;
         case MAV_CMD_DO_JUMP:
-            list << _oneDecimalString(_param1) << _oneDecimalString(_param2);
+            list << _oneDecimalString(getParam1()) << _oneDecimalString(getParam2());
             break;
         default:
             break;
@@ -588,36 +589,38 @@ QmlObjectListModel* MissionItem::facts(void)
             _param2Fact->setMetaData(_acceptanceRadiusMetaData);
             _param1Fact->_setName("Hold:");
             _param1Fact->setMetaData(_holdTimeMetaData);
-            model->append(_yawFact);
+            model->append(_yawRadiansFact);
             model->append(_param2Fact);
             model->append(_param1Fact);
             break;
         case MAV_CMD_NAV_LOITER_UNLIM:
-            model->append(_yawFact);
-            model->append(_loiterRadiusFact);
+            model->append(_yawRadiansFact);
+            model->append(_loiterOrbitRadiusFact);
             break;
         case MAV_CMD_NAV_LOITER_TURNS:
             _param1Fact->_setName("Turns:");
             _param1Fact->setMetaData(_loiterTurnsMetaData);
-            model->append(_yawFact);
-            model->append(_loiterRadiusFact);
+            model->append(_yawRadiansFact);
+            model->append(_loiterOrbitRadiusFact);
             model->append(_param1Fact);
             break;
         case MAV_CMD_NAV_LOITER_TIME:
             _param1Fact->_setName("Seconds:");
             _param1Fact->setMetaData(_loiterSecondsMetaData);
-            model->append(_yawFact);
-            model->append(_loiterRadiusFact);
+            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(_yawFact);
+            model->append(_yawRadiansFact);
             break;
         case MAV_CMD_NAV_TAKEOFF:
-            model->append(_yawFact);
-            model->append(_pitchFact);
+            _param1Fact->_setName("Pitch:");
+            _param1Fact->setMetaData(_pitchMetaData);
+            model->append(_yawRadiansFact);
+            model->append(_param1Fact);
             break;
         case MAV_CMD_CONDITION_DELAY:
             _param1Fact->_setName("Seconds:");
@@ -639,14 +642,14 @@ QmlObjectListModel* MissionItem::facts(void)
 
 double MissionItem::yawRadians(void) const
 {
-    return _yawRadians;
+    return _yawRadiansFact->value().toDouble();
 }
 
 void MissionItem::setYawRadians(double yaw)
 {
-    if (_yawRadians != yaw)
+    if (yawRadians() != yaw)
     {
-        _yawRadians = yaw;
+        _yawRadiansFact->setValue(yaw);
         emit yawChanged(yaw);
         emit changed(this);
         emit valueStringsChanged(valueStrings());
@@ -656,7 +659,7 @@ void MissionItem::setYawRadians(double yaw)
 
 double MissionItem::yawDegrees(void) const
 {
-    return _yawRadians * (180.0 / M_PI);
+    return yawRadians() * (180.0 / M_PI);
 }
 
 void MissionItem::setYawDegrees(double yaw)

src/MissionItem.h

@@ -53,7 +53,7 @@ public:
                 int             frame = MAV_FRAME_GLOBAL,
                 int             action = MAV_CMD_NAV_WAYPOINT);
 
-    MissionItem(const MissionItem& other);
+    MissionItem(const MissionItem& other, QObject* parent = NULL);
     ~MissionItem();
 
     const MissionItem& operator=(const MissionItem& other);
@@ -125,23 +125,23 @@ public:
     bool getAutoContinue() const {
         return _autocontinue;
     }
-    double getLoiterOrbit() const {
-        return _orbit;
+    double loiterOrbitRadius() const {
+        return _loiterOrbitRadiusFact->value().toDouble();
     }
     double getAcceptanceRadius() const {
-        return _param2;
+        return getParam2();
     }
     double getHoldTime() const {
-        return _param1;
+        return getParam1();
     }
     double getParam1() const {
-        return _param1;
+        return _param1Fact->value().toDouble();
     }
     double getParam2() const {
-        return _param2;
+        return _param2Fact->value().toDouble();
     }
     double getParam3() const {
-        return _orbit;
+        return loiterOrbitRadius();
     }
     double getParam4() const {
         return yawRadians();
@@ -195,7 +195,7 @@ public:
     void setFrame       (int _frame);
     void setAutocontinue(bool autoContinue);
     void setCurrent     (bool _current);
-    void setLoiterOrbit (double _orbit);
+    void setLoiterOrbitRadius (double radius);
     void setParam1      (double _param1);
     void setParam2      (double _param2);
     void setParam3      (double param3);
@@ -226,27 +226,20 @@ private:
     
     int             _sequenceNumber;
     QGeoCoordinate  _coordinate;
-    double          _yawRadians;
     int             _frame;
     int             _action;
     bool            _autocontinue;
     bool            _isCurrentItem;
-    double          _orbit;
-    double          _param1;
-    double          _param2;
     quint64         _reachedTime;
     
-    Fact*           _yawFact;
-    Fact*           _pitchFact;
-    Fact*           _loiterRadiusFact;
+    Fact*           _yawRadiansFact;
+    Fact*           _loiterOrbitRadiusFact;
     Fact*           _param1Fact;
     Fact*           _param2Fact;
     
-    FactMetaData*   _yawMetaData;
     FactMetaData*   _pitchMetaData;
     FactMetaData*   _acceptanceRadiusMetaData;
     FactMetaData*   _holdTimeMetaData;
-    FactMetaData*   _loiterRadiusMetaData;
     FactMetaData*   _loiterTurnsMetaData;
     FactMetaData*   _loiterSecondsMetaData;
     FactMetaData*   _delaySecondsMetaData;

src/ui/map/Waypoint2DIcon.cc

@@ -104,7 +104,7 @@ QRectF Waypoint2DIcon::boundingRect() const
         }
         if (((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
         {
-            loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
+            loiter = map->metersToPixels(waypoint->loiterOrbitRadius(), coord);
         }
     }
 
@@ -306,7 +306,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
         penDash.setWidth(1);
         //penDash.setStyle(Qt::DotLine);
         // A negative radius indicates counter-clockwise rotation, but we still want to draw it positive
-        const int loiter = map->metersToPixels(fabs(waypoint->getLoiterOrbit()), Coord());
+        const int loiter = map->metersToPixels(fabs(waypoint->loiterOrbitRadius()), Coord());
         if (loiter > picture.width()/2)
         {
             painter->setPen(penBlack);