Remake of "editable" mission elements is now complete and usable. Missing...

Remake of "editable" mission elements is now complete and usable. Missing widgets for Takeoff and Land will be added soon.

qgroundcontrol.pro

@@ -224,12 +224,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/designer/QGCCommandButton.ui \
     src/ui/QGCMAVLinkLogPlayer.ui \
     src/ui/QGCWaypointListMulti.ui \
-    src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
     src/ui/QGCSettingsWidget.ui \
     src/ui/UASControlParameters.ui \
-    src/ui/mission/QGCMissionDoWidget.ui \
-    src/ui/mission/QGCMissionConditionWidget.ui \
     src/ui/map/QGCMapTool.ui \
     src/ui/map/QGCMapToolBar.ui \
     src/ui/QGCMAVLinkInspector.ui \
@@ -241,7 +238,12 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCPluginHost.ui \
     src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
     src/ui/mission/QGCMissionOther.ui \
-    src/ui/mission/QGCMissionNavWaypoint.ui
+    src/ui/mission/QGCMissionNavWaypoint.ui \
+    src/ui/mission/QGCMissionDoJump.ui \
+    src/ui/mission/QGCMissionConditionDelay.ui \
+    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
+    src/ui/mission/QGCMissionNavLoiterTurns.ui \
+    src/ui/mission/QGCMissionNavLoiterTime.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -343,8 +345,6 @@ HEADERS += src/MG.h \
     src/ui/QGCUDPLinkConfiguration.h \
     src/ui/QGCSettingsWidget.h \
     src/ui/uas/UASControlParameters.h \
-    src/ui/mission/QGCMissionDoWidget.h \
-    src/ui/mission/QGCMissionConditionWidget.h \
     src/uas/QGCUASParamManager.h \
     src/ui/map/QGCMapWidget.h \
     src/ui/map/MAV2DIcon.h \
@@ -366,7 +366,12 @@ HEADERS += src/MG.h \
     src/ui/QGCPluginHost.h \
     src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
     src/ui/mission/QGCMissionOther.h \
-    src/ui/mission/QGCMissionNavWaypoint.h
+    src/ui/mission/QGCMissionNavWaypoint.h \
+    src/ui/mission/QGCMissionDoJump.h \
+    src/ui/mission/QGCMissionConditionDelay.h \
+    src/ui/mission/QGCMissionNavLoiterUnlim.h \
+    src/ui/mission/QGCMissionNavLoiterTurns.h \
+    src/ui/mission/QGCMissionNavLoiterTime.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -480,8 +485,6 @@ SOURCES += src/main.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
     src/ui/QGCSettingsWidget.cc \
     src/ui/uas/UASControlParameters.cpp \
-    src/ui/mission/QGCMissionDoWidget.cc \
-    src/ui/mission/QGCMissionConditionWidget.cc \
     src/uas/QGCUASParamManager.cc \
     src/ui/map/QGCMapWidget.cc \
     src/ui/map/MAV2DIcon.cc \
@@ -500,7 +503,12 @@ SOURCES += src/main.cc \
     src/ui/QGCPluginHost.cc \
     src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
     src/ui/mission/QGCMissionOther.cc \
-    src/ui/mission/QGCMissionNavWaypoint.cc
+    src/ui/mission/QGCMissionNavWaypoint.cc \
+    src/ui/mission/QGCMissionDoJump.cc \
+    src/ui/mission/QGCMissionConditionDelay.cc \
+    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
+    src/ui/mission/QGCMissionNavLoiterTurns.cc \
+    src/ui/mission/QGCMissionNavLoiterTime.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/WaypointEditableView.cc

@@ -19,13 +19,14 @@
 
 #include "WaypointEditableView.h"
 #include "ui_WaypointEditableView.h"
-#include "ui_QGCCustomWaypointAction.h"
-#include "ui_QGCMissionDoWidget.h"
-#include "ui_QGCMissionOther.h"
+
 
 #include "QGCMissionNavWaypoint.h"
-#include "QGCMissionDoWidget.h"
-#include "QGCMissionConditionWidget.h"
+#include "QGCMissionNavLoiterUnlim.h"
+#include "QGCMissionNavLoiterTurns.h"
+#include "QGCMissionNavLoiterTime.h"
+#include "QGCMissionConditionDelay.h"
+#include "QGCMissionDoJump.h"
 #include "QGCMissionOther.h"
 
 
@@ -42,10 +43,13 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     // CUSTOM COMMAND WIDGET
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(2);
-    layout->setContentsMargins(4, 4 ,4 ,4);
+    layout->setContentsMargins(4, 0 ,4 ,0);
     m_ui->customActionWidget->setLayout(layout);
 
     MissionNavWaypointWidget = NULL;
+    MissionNavLoiterUnlimWidget = NULL;
+    MissionNavLoiterTurnsWidget = NULL;
+    MissionNavLoiterTimeWidget = NULL;
     MissionDoJumpWidget = NULL;
     MissionConditionDelayWidget = NULL;
     MissionOtherWidget = NULL;
@@ -72,10 +76,10 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION);
 
     // Initialize view correctly
-    updateActionView(wp->getAction());    
-
-    // Read values and set user interface
+    int actionID = wp->getAction();
+    initializeActionView(actionID);
     updateValues();
+    updateActionView(actionID);
 
     // Check for mission frame
     if (wp->getFrame() == MAV_FRAME_MISSION)
@@ -120,9 +124,12 @@ void WaypointEditableView::changedAutoContinue(int state)
 }
 
 void WaypointEditableView::updateActionView(int action)
-{
+{    
     //Hide all
     if(MissionNavWaypointWidget) MissionNavWaypointWidget->hide();
+    if(MissionNavLoiterUnlimWidget) MissionNavLoiterUnlimWidget->hide();
+    if(MissionNavLoiterTurnsWidget) MissionNavLoiterTurnsWidget->hide();
+    if(MissionNavLoiterTimeWidget) MissionNavLoiterTimeWidget->hide();
     if(MissionOtherWidget) MissionOtherWidget->hide();
     if(MissionConditionDelayWidget) MissionConditionDelayWidget->hide();
     if(MissionDoJumpWidget) MissionDoJumpWidget->hide();
@@ -131,21 +138,30 @@ void WaypointEditableView::updateActionView(int action)
     if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
     {
         switch(action) {
-        case MAV_CMD_NAV_TAKEOFF:
-        case MAV_CMD_NAV_LAND:
-        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+        case MAV_CMD_NAV_WAYPOINT:
+            if(MissionNavWaypointWidget) MissionNavWaypointWidget->show();
+            break;
         case MAV_CMD_NAV_LOITER_UNLIM:
+            if(MissionNavLoiterUnlimWidget) MissionNavLoiterUnlimWidget->show();
+            break;
         case MAV_CMD_NAV_LOITER_TURNS:
+            if(MissionNavLoiterTurnsWidget) MissionNavLoiterTurnsWidget->show();
+            break;
         case MAV_CMD_NAV_LOITER_TIME:
+            if(MissionNavLoiterTimeWidget) MissionNavLoiterTimeWidget->show();
             break;
-        case MAV_CMD_NAV_WAYPOINT:
-            if(MissionNavWaypointWidget) MissionNavWaypointWidget->show();
+        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+        case MAV_CMD_NAV_LAND:
+        case MAV_CMD_NAV_TAKEOFF:
+        case MAV_CMD_CONDITION_DELAY:
+            if(MissionConditionDelayWidget) MissionConditionDelayWidget->show();
             break;
         case MAV_CMD_DO_JUMP:
             if(MissionDoJumpWidget) MissionDoJumpWidget->show();
             break;
         default:
             if(MissionOtherWidget) MissionOtherWidget->show();
+            viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING;
             break;
         }
     }
@@ -160,59 +176,83 @@ void WaypointEditableView::updateActionView(int action)
  */
 void WaypointEditableView::changedAction(int index)
 {
-    MAV_FRAME cur_frame = (MAV_FRAME) m_ui->comboBox_frame->itemData(m_ui->comboBox_frame->currentIndex()).toUInt();
     // set waypoint action
-    int actionIndex = m_ui->comboBox_action->itemData(index).toUInt();
-    if (actionIndex < MAV_CMD_ENUM_END && actionIndex >= 0) {
-        MAV_CMD action = (MAV_CMD) actionIndex;
+    int actionID = m_ui->comboBox_action->itemData(index).toUInt();
+    if (actionID == QVariant::Invalid || actionID == MAV_CMD_ENUM_END)
+    {
+        viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING;
+    }
+    else //(actionID < MAV_CMD_ENUM_END && actionID >= 0)
+    {
+        viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DEFAULT;
+        MAV_CMD action = (MAV_CMD) actionID;
         wp->setAction(action);
     }
+    // change the view
+    initializeActionView(actionID);
+    updateValues();
+    updateActionView(actionID);
+}
 
-    // Expose ui based on action
-    // Change to mission frame
-    // if action is unknown
-    viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DEFAULT;
-    switch(actionIndex) {        
-    case MAV_CMD_NAV_TAKEOFF:
-    case MAV_CMD_NAV_LAND:
-    case MAV_CMD_NAV_RETURN_TO_LAUNCH:    
-    case MAV_CMD_NAV_LOITER_UNLIM:
-    case MAV_CMD_NAV_LOITER_TURNS:
-    case MAV_CMD_NAV_LOITER_TIME:
-        updateActionView(actionIndex);
-        break;
-
+void WaypointEditableView::initializeActionView(int actionID)
+{
+    //initialize a new action-widget, if needed.
+    switch(actionID) {
     case MAV_CMD_NAV_WAYPOINT:
         if (!MissionNavWaypointWidget)
         {
             MissionNavWaypointWidget = new QGCMissionNavWaypoint(this);
             m_ui->customActionWidget->layout()->addWidget(MissionNavWaypointWidget);
         }
-        updateActionView(actionIndex);
         break;
-
-    case MAV_CMD_DO_JUMP:        
+    case MAV_CMD_NAV_LOITER_UNLIM:
+        if (!MissionNavLoiterUnlimWidget)
+        {
+            MissionNavLoiterUnlimWidget = new QGCMissionNavLoiterUnlim(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavLoiterUnlimWidget);
+        }
+        break;
+    case MAV_CMD_NAV_LOITER_TURNS:
+        if (!MissionNavLoiterTurnsWidget)
+        {
+            MissionNavLoiterTurnsWidget = new QGCMissionNavLoiterTurns(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavLoiterTurnsWidget);
+        }
+        break;
+    case MAV_CMD_NAV_LOITER_TIME:
+        if (!MissionNavLoiterTimeWidget)
+        {
+            MissionNavLoiterTimeWidget = new QGCMissionNavLoiterTime(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavLoiterTimeWidget);
+        }
+        break;
+    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+    case MAV_CMD_NAV_LAND:
+    case MAV_CMD_NAV_TAKEOFF:
+    case MAV_CMD_CONDITION_DELAY:
+        if (!MissionConditionDelayWidget)
+        {
+            MissionConditionDelayWidget = new QGCMissionConditionDelay(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionConditionDelayWidget);
+        }
+        break;
+    case MAV_CMD_DO_JUMP:
         if (!MissionDoJumpWidget)
         {
-            MissionDoJumpWidget = new QGCMissionDoWidget(this);
+            MissionDoJumpWidget = new QGCMissionDoJump(this);
             m_ui->customActionWidget->layout()->addWidget(MissionDoJumpWidget);
         }
-        updateActionView(actionIndex);
         break;
 
     case MAV_CMD_ENUM_END:
     default:
-        // Switch to mission frame
-        viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING;
         if (!MissionOtherWidget)
         {
             MissionOtherWidget = new QGCMissionOther(this);
             m_ui->customActionWidget->layout()->addWidget(MissionOtherWidget);
         }
-        updateActionView(actionIndex);
         break;
     }
-    updateValues();
 }
 
 void WaypointEditableView::deleted(QObject* waypoint)
@@ -299,7 +339,7 @@ void WaypointEditableView::updateValues()
         QDoubleSpinBox* spin = dynamic_cast<QDoubleSpinBox*>(m_ui->customActionWidget->children().at(j));
         if (spin)
         {
-            qDebug() << "DEACTIVATED SPINBOX #" << j;
+            //qDebug() << "DEACTIVATED SPINBOX #" << j;
             spin->blockSignals(true);
         }
         else
@@ -334,32 +374,20 @@ void WaypointEditableView::updateValues()
     // Update action
     MAV_CMD action = wp->getAction();
     int action_index = m_ui->comboBox_action->findData(action);
-    // Set to "Other" action if it was -1
-    if (action_index == -1)
-    {
-        action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
-    }
-
-    // Only update if changed
     if (m_ui->comboBox_action->currentIndex() != action_index)
     {
-        // If action is unknown, set direct editing mode
-        if (wp->getAction() < 0 || wp->getAction() > MAV_CMD_NAV_TAKEOFF)//FIXME condition should not depend on NAV_TAKEOFF
+        if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
         {
-            //changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING);
-        }
-        else
-        {
-            if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
+            // Set to "Other" action if it was -1
+            if (action_index == -1)
             {
-                // Action ID known, update
-                m_ui->comboBox_action->setCurrentIndex(action_index);
-                updateActionView(action);                
+                action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
+                viewMode = QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING;
             }
+            m_ui->comboBox_action->setCurrentIndex(action_index);
         }
     }
 
-
     emit commandBroadcast(wp->getAction());
     emit frameBroadcast(wp->getFrame());
     emit param1Broadcast(wp->getParam1());

src/ui/WaypointEditableView.h

@@ -27,7 +27,7 @@ This file is part of the QGROUNDCONTROL project
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
  *   @author Petri Tanskanen <mavteam@student.ethz.ch>
- *
+ *   @author Alex Trofimov <talex@student.ethz.ch>
  */
 
 #ifndef WAYPOINTEDITABLEVIEW_H
@@ -46,12 +46,14 @@ namespace Ui
 {
 class WaypointEditableView;
 }
-//class Ui_QGCCustomWaypointAction;
-//class Ui_QGCMissionDoWidget;
 class QGCMissionNavWaypoint;
-class QGCMissionDoWidget;
-class QGCMissionConditionWidget;
+class QGCMissionNavLoiterUnlim;
+class QGCMissionNavLoiterTurns;
+class QGCMissionNavLoiterTime;
+class QGCMissionDoJump;
+class QGCMissionConditionDelay;
 class QGCMissionOther;
+
 class WaypointEditableView : public QWidget
 {
     Q_OBJECT
@@ -72,6 +74,7 @@ public slots:
     void changedAutoContinue(int);    
     void changedFrame(int state);
     void updateActionView(int action);
+    void initializeActionView(int action);
 
     void changedCurrent(int);
     void updateValues(void);
@@ -90,13 +93,16 @@ protected slots:
 protected:
     virtual void changeEvent(QEvent *e);
     Waypoint* wp;
-    // Special widgets extendending the
-    // waypoint view to mission capabilities
+    QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
+    // Widgets for every mission element
     QGCMissionNavWaypoint* MissionNavWaypointWidget;
-    QGCMissionDoWidget* MissionDoJumpWidget;
-    QGCMissionConditionWidget* MissionConditionDelayWidget;
+    QGCMissionNavLoiterUnlim* MissionNavLoiterUnlimWidget;
+    QGCMissionNavLoiterTurns* MissionNavLoiterTurnsWidget;
+    QGCMissionNavLoiterTime* MissionNavLoiterTimeWidget;
+    QGCMissionDoJump* MissionDoJumpWidget;
+    QGCMissionConditionDelay* MissionConditionDelayWidget;
     QGCMissionOther* MissionOtherWidget;
-    QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
+
 
 private:
     Ui::WaypointEditableView *m_ui;

src/ui/mission/QGCMissionConditionDelay.cc

+#include "QGCMissionConditionDelay.h"
+#include "ui_QGCMissionConditionDelay.h"
+#include "WaypointEditableView.h"
+
+QGCMissionConditionDelay::QGCMissionConditionDelay(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionConditionDelay)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionConditionDelay::~QGCMissionConditionDelay()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionConditionDelay.h

+#ifndef QGCMISSIONCONDITIONDELAY_H
+#define QGCMISSIONCONDITIONDELAY_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionConditionDelay;
+}
+
+class QGCMissionConditionDelay : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionConditionDelay(WaypointEditableView* WEV);
+    ~QGCMissionConditionDelay();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionConditionDelay *ui;
+};
+
+#endif // QGCMISSIONCONDITIONDELAY_H

src/ui/mission/QGCMissionConditionDelay.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionConditionDelay</class>
+ <widget class="QWidget" name="QGCMissionConditionDelay">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>448</width>
+    <height>37</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>200</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>5</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Delay duration</string>
+     </property>
+     <property name="statusTip">
+      <string>Delay duration</string>
+     </property>
+     <property name="wrapping">
+      <bool>false</bool>
+     </property>
+     <property name="frame">
+      <bool>true</bool>
+     </property>
+     <property name="accelerated">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>Duration: </string>
+     </property>
+     <property name="suffix">
+      <string>s</string>
+     </property>
+     <property name="decimals">
+      <number>2</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/mission/QGCMissionConditionWidget.cc

-#include "QGCMissionConditionWidget.h"
-#include "ui_QGCMissionConditionWidget.h"
-
-QGCMissionConditionWidget::QGCMissionConditionWidget(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCMissionConditionWidget)
-{
-    ui->setupUi(this);
-}
-
-QGCMissionConditionWidget::~QGCMissionConditionWidget()
-{
-    delete ui;
-}

src/ui/mission/QGCMissionConditionWidget.h

-#ifndef QGCMISSIONCONDITIONWIDGET_H
-#define QGCMISSIONCONDITIONWIDGET_H
-
-#include <QWidget>
-
-namespace Ui
-{
-class QGCMissionConditionWidget;
-}
-
-class QGCMissionConditionWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QGCMissionConditionWidget(QWidget *parent = 0);
-    ~QGCMissionConditionWidget();
-
-private:
-    Ui::QGCMissionConditionWidget *ui;
-};
-
-#endif // QGCMISSIONCONDITIONWIDGET_H

src/ui/mission/QGCMissionConditionWidget.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCMissionConditionWidget</class>
- <widget class="QWidget" name="QGCMissionConditionWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>1260</width>
-    <height>31</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
-   <property name="spacing">
-    <number>4</number>
-   </property>
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionDelayTimeSpinBox">
-     <property name="prefix">
-      <string>delay: </string>
-     </property>
-     <property name="suffix">
-      <string> s</string>
-     </property>
-     <property name="maximum">
-      <double>50000.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>5.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionChangeAltRateSpinBox">
-     <property name="prefix">
-      <string>rate: </string>
-     </property>
-     <property name="suffix">
-      <string> m/s</string>
-     </property>
-     <property name="maximum">
-      <double>200.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>0.500000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionChangeAltFinishAltitudeSpinBox">
-     <property name="prefix">
-      <string>finish altitude: </string>
-     </property>
-     <property name="suffix">
-      <string> m</string>
-     </property>
-     <property name="minimum">
-      <double>-100.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>1000000.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionDistanceSpinBox">
-     <property name="prefix">
-      <string>distance to next wp: </string>
-     </property>
-     <property name="suffix">
-      <string> m/s</string>
-     </property>
-     <property name="maximum">
-      <double>50000.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionYawAngleSpinBox">
-     <property name="prefix">
-      <string>heading: </string>
-     </property>
-     <property name="suffix">
-      <string>°</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="conditionYawRateSpinBox">
-     <property name="prefix">
-      <string>turn rate: </string>
-     </property>
-     <property name="suffix">
-      <string>°/s</string>
-     </property>
-     <property name="maximum">
-      <double>1000.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>15.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="conditionYawDirectionComboBox">
-     <property name="currentIndex">
-      <number>1</number>
-     </property>
-     <item>
-      <property name="text">
-       <string>left/counter-clockwise</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>right/clockwise</string>
-      </property>
-     </item>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="conditionYawOffsetComboBox">
-     <item>
-      <property name="text">
-       <string>compass direction</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>offset from current heading</string>
-      </property>
-     </item>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/mission/QGCMissionDoJump.cc

+#include "QGCMissionDoJump.h"
+#include "ui_QGCMissionDoJump.h"
+#include "WaypointEditableView.h"
+
+QGCMissionDoJump::QGCMissionDoJump(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionDoJump)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->param1SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    connect(this->ui->param2SpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->param1SpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->param2SpinBox,SLOT(setValue(double)));
+}
+
+QGCMissionDoJump::~QGCMissionDoJump()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionDoJump.h

+#ifndef QGCMISSIONDOJUMP_H
+#define QGCMISSIONDOJUMP_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionDoJump;
+}
+
+class QGCMissionDoJump : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoJump(WaypointEditableView* WEV);
+    ~QGCMissionDoJump();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionDoJump *ui;
+};
+
+#endif // QGCMISSIONDOJUMP_H

src/ui/mission/QGCCustomWaypointAction.ui → src/ui/mission/QGCMissionDoJump.ui

 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>QGCCustomWaypointAction</class>
- <widget class="QWidget" name="QGCCustomWaypointAction">
+ <class>QGCMissionDoJump</class>
+ <widget class="QWidget" name="QGCMissionDoJump">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1228</width>
-    <height>27</height>
+    <width>448</width>
+    <height>37</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>200</width>
+    <height>0</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,0,10,10,10,10,0,0">
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
    <property name="spacing">
     <number>5</number>
    </property>
@@ -21,139 +36,94 @@
     <number>0</number>
    </property>
    <item>
-    <widget class="QSpinBox" name="commandSpinBox">
+    <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
+     </property>
      <property name="toolTip">
-      <string>MAV_CMD id</string>
+      <string>Mission element ID to jump to</string>
      </property>
      <property name="statusTip">
-      <string>MAV_CMD id</string>
+      <string>Mission element ID to jump to</string>
      </property>
-     <property name="prefix">
-      <string>CMD </string>
+     <property name="wrapping">
+      <bool>false</bool>
      </property>
-     <property name="minimum">
-      <number>0</number>
+     <property name="frame">
+      <bool>true</bool>
      </property>
-     <property name="maximum">
-      <number>255</number>
+     <property name="accelerated">
+      <bool>true</bool>
      </property>
-     <property name="value">
-      <number>0</number>
+     <property name="keyboardTracking">
+      <bool>false</bool>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param1SpinBox">
      <property name="prefix">
-      <string>P1 </string>
-     </property>
-     <property name="decimals">
-      <number>7</number>
+      <string>Jump to index </string>
      </property>
-     <property name="minimum">
-      <double>-2147483647.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>2147483647.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param2SpinBox">
-     <property name="toolTip">
+     <property name="suffix">
       <string/>
      </property>
-     <property name="prefix">
-      <string>P2 </string>
-     </property>
      <property name="decimals">
-      <number>7</number>
+      <number>0</number>
      </property>
      <property name="minimum">
-      <double>-2147483647.000000000000000</double>
+      <double>0.000000000000000</double>
      </property>
      <property name="maximum">
-      <double>2147483647.000000000000000</double>
+      <double>10000.000000000000000</double>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param3SpinBox">
-     <property name="prefix">
-      <string>P3 </string>
-     </property>
-     <property name="decimals">
-      <number>7</number>
-     </property>
-     <property name="minimum">
-      <double>-2147483647.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>2147483647.000000000000000</double>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
      </property>
     </widget>
    </item>
    <item>
-    <widget class="QDoubleSpinBox" name="param4SpinBox">
-     <property name="prefix">
-      <string>P4 </string>
-     </property>
-     <property name="decimals">
-      <number>7</number>
-     </property>
-     <property name="minimum">
-      <double>-2147483647.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>2147483647.000000000000000</double>
+    <widget class="QDoubleSpinBox" name="param2SpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param5SpinBox">
-     <property name="prefix">
-      <string>P5 </string>
+     <property name="focusPolicy">
+      <enum>Qt::WheelFocus</enum>
      </property>
-     <property name="decimals">
-      <number>7</number>
+     <property name="toolTip">
+      <string>Maximal number of jumps</string>
      </property>
-     <property name="minimum">
-      <double>-2147483647.000000000000000</double>
+     <property name="statusTip">
+      <string>Maximal number of jumps</string>
      </property>
-     <property name="maximum">
-      <double>2147483647.000000000000000</double>
+     <property name="keyboardTracking">
+      <bool>false</bool>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param6SpinBox">
      <property name="prefix">
-      <string>P6 </string>
+      <string/>
+     </property>
+     <property name="suffix">
+      <string> time(s)</string>
      </property>
      <property name="decimals">
-      <number>7</number>
+      <number>0</number>
      </property>
      <property name="minimum">
-      <double>-2147483647.000000000000000</double>
+      <double>0.000000000000000</double>
      </property>
      <property name="maximum">
-      <double>2147483647.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QDoubleSpinBox" name="param7SpinBox">
-     <property name="prefix">
-      <string>P7 </string>
+      <double>10000.000000000000000</double>
      </property>
-     <property name="decimals">
-      <number>7</number>
+     <property name="singleStep">
+      <double>1.000000000000000</double>
      </property>
-     <property name="minimum">
-      <double>-2147483647.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>2147483647.000000000000000</double>
+     <property name="value">
+      <double>1.000000000000000</double>
      </property>
     </widget>
    </item>

src/ui/mission/QGCMissionDoWidget.cc

-#include "QGCMissionDoWidget.h"
-#include "ui_QGCMissionDoWidget.h"
-
-QGCMissionDoWidget::QGCMissionDoWidget(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCMissionDoWidget)
-{
-    ui->setupUi(this);
-}
-
-QGCMissionDoWidget::~QGCMissionDoWidget()
-{
-    delete ui;
-}

src/ui/mission/QGCMissionDoWidget.h

-#ifndef QGCMISSIONDOWIDGET_H
-#define QGCMISSIONDOWIDGET_H
-
-#include <QWidget>
-
-namespace Ui
-{
-class QGCMissionDoWidget;
-}
-
-class QGCMissionDoWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit QGCMissionDoWidget(QWidget *parent = 0);
-    ~QGCMissionDoWidget();
-
-private:
-    Ui::QGCMissionDoWidget *ui;
-};
-
-#endif // QGCMISSIONDOWIDGET_H

src/ui/mission/QGCMissionDoWidget.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCMissionDoWidget</class>
- <widget class="QWidget" name="QGCMissionDoWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>632</width>
-    <height>27</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10">
-   <property name="spacing">
-    <number>5</number>
-   </property>
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <item>
-    <widget class="QComboBox" name="doSetModeComboBox"/>
-   </item>
-   <item>
-    <widget class="QSpinBox" name="doJumpIndexSpinBox">
-     <property name="suffix">
-      <string/>
-     </property>
-     <property name="prefix">
-      <string>list index to jump to: </string>
-     </property>
-     <property name="maximum">
-      <number>5000</number>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QSpinBox" name="doJumpRepeatSpinBox">
-     <property name="suffix">
-      <string> times</string>
-     </property>
-     <property name="prefix">
-      <string>repeat </string>
-     </property>
-     <property name="maximum">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/mission/QGCMissionNavLoiterTime.cc

+#include "QGCMissionNavLoiterTime.h"
+#include "ui_QGCMissionNavLoiterTime.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterTime::QGCMissionNavLoiterTime(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterTime)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->timeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->timeSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterTime::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterTime::~QGCMissionNavLoiterTime()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterTime.h

+#ifndef QGCMISSIONNAVLOITERTIME_H
+#define QGCMISSIONNAVLOITERTIME_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterTime;
+}
+
+class QGCMissionNavLoiterTime : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterTime(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterTime();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterTime *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERTIME_H

src/ui/mission/QGCMissionNavLoiterTurns.cc

+#include "QGCMissionNavLoiterTurns.h"
+#include "ui_QGCMissionNavLoiterTurns.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterTurns::QGCMissionNavLoiterTurns(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterTurns)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->turnsSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->turnsSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterTurns::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterTurns::~QGCMissionNavLoiterTurns()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterTurns.h

+#ifndef QGCMISSIONNAVLOITERTURNS_H
+#define QGCMISSIONNAVLOITERTURNS_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterTurns;
+}
+
+class QGCMissionNavLoiterTurns : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterTurns(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterTurns();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterTurns *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERTURNS_H

src/ui/mission/QGCMissionNavLoiterUnlim.cc

+#include "QGCMissionNavLoiterUnlim.h"
+#include "ui_QGCMissionNavLoiterUnlim.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLoiterUnlim::QGCMissionNavLoiterUnlim(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLoiterUnlim)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    //connect(this->ui->holdTimeSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    connect(this->ui->radSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam3(double)));
+    connect(this->ui->yawSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam4(double)));
+    connect(this->ui->posNSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//NED
+    connect(this->ui->posESpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->posDSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+    connect(this->ui->latSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam5(double)));//Global
+    connect(this->ui->lonSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam6(double)));
+    connect(this->ui->altSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam7(double)));
+
+    //Reading WP to update UI:
+    connect(WEV,SIGNAL(frameBroadcast(MAV_FRAME)),this,SLOT(updateFrame(MAV_FRAME)));
+    //connect(WEV,SIGNAL(param1Broadcast(double)),this->ui->holdTimeSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->radSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param4Broadcast(double)),this->ui->yawSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->posNSpinBox,SLOT(setValue(double)));//NED
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->posESpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->posDSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param5Broadcast(double)),this->ui->latSpinBox,SLOT(setValue(double)));//Global
+    connect(WEV,SIGNAL(param6Broadcast(double)),this->ui->lonSpinBox,SLOT(setValue(double)));
+    connect(WEV,SIGNAL(param7Broadcast(double)),this->ui->altSpinBox,SLOT(setValue(double)));
+}
+
+void QGCMissionNavLoiterUnlim::updateFrame(MAV_FRAME frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_LOCAL_ENU:
+    case MAV_FRAME_LOCAL_NED:
+        this->ui->posNSpinBox->show();
+        this->ui->posESpinBox->show();
+        this->ui->posDSpinBox->show();
+        this->ui->latSpinBox->hide();
+        this->ui->lonSpinBox->hide();
+        this->ui->altSpinBox->hide();
+        break;
+    case MAV_FRAME_GLOBAL:
+    case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+        this->ui->posNSpinBox->hide();
+        this->ui->posESpinBox->hide();
+        this->ui->posDSpinBox->hide();
+        this->ui->latSpinBox->show();
+        this->ui->lonSpinBox->show();
+        this->ui->altSpinBox->show();
+        break;
+    default:
+        break;
+    }
+}
+
+QGCMissionNavLoiterUnlim::~QGCMissionNavLoiterUnlim()
+{
+    delete ui;
+}

src/ui/mission/QGCMissionNavLoiterUnlim.h

+#ifndef QGCMISSIONNAVLOITERUNLIM_H
+#define QGCMISSIONNAVLOITERUNLIM_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLoiterUnlim;
+}
+
+class QGCMissionNavLoiterUnlim : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLoiterUnlim(WaypointEditableView* WEV);
+    ~QGCMissionNavLoiterUnlim();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLoiterUnlim *ui;
+};
+
+#endif // QGCMISSIONNAVLOITERUNLIM_H

src/ui/mission/QGCMissionNavWaypoint.h

@@ -26,7 +26,4 @@ private:
     Ui::QGCMissionNavWaypoint *ui;
 };
 
-
-
-
 #endif // QGCMISSIONNAVWAYPOINT_H

src/ui/mission/QGCMissionNavWaypoint.ui

@@ -61,6 +61,9 @@
      <property name="accelerated">
       <bool>true</bool>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>N </string>
      </property>
@@ -95,6 +98,9 @@
      <property name="statusTip">
       <string>Position Y/Longitude coordinate</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>E </string>
      </property>
@@ -132,6 +138,9 @@
      <property name="statusTip">
       <string/>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>D </string>
      </property>
@@ -166,6 +175,9 @@
      <property name="statusTip">
       <string>Latitude in degrees</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>lat </string>
      </property>
@@ -203,6 +215,9 @@
      <property name="statusTip">
       <string>Longitude in degrees</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>lon </string>
      </property>
@@ -237,6 +252,9 @@
      <property name="statusTip">
       <string>Altitude in meters</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>alt </string>
      </property>
@@ -274,6 +292,9 @@
      <property name="wrapping">
       <bool>true</bool>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string/>
      </property>
@@ -306,6 +327,9 @@ where to accept this waypoint as reached</string>
      <property name="statusTip">
       <string>Uncertainty radius in meters where to accept this waypoint as reached</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="suffix">
       <string> m</string>
      </property>
@@ -328,6 +352,9 @@ where to accept this waypoint as reached</string>
      <property name="statusTip">
       <string>Time to stay/loiter at this position before advancing</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="suffix">
       <string> s</string>
      </property>

src/ui/mission/QGCMissionOther.h

@@ -14,13 +14,13 @@ class QGCMissionOther : public QWidget
 
 public:
     explicit QGCMissionOther(WaypointEditableView* WEV);
-    ~QGCMissionOther();
-    Ui::QGCMissionOther *ui;
+    ~QGCMissionOther();    
 
 protected:
     WaypointEditableView* WEV;
 
 private:
+    Ui::QGCMissionOther *ui;
 };
 
 #endif // QGCMISSIONOTHER_H

src/ui/mission/QGCMissionOther.ui

@@ -28,6 +28,9 @@
      <property name="statusTip">
       <string>MAV_CMD id</string>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>CMD </string>
      </property>
@@ -44,6 +47,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param1SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P1 </string>
      </property>
@@ -63,6 +69,9 @@
      <property name="toolTip">
       <string/>
      </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P2 </string>
      </property>
@@ -79,6 +88,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param3SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P3 </string>
      </property>
@@ -95,6 +107,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param4SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P4 </string>
      </property>
@@ -111,6 +126,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param5SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P5 </string>
      </property>
@@ -127,6 +145,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param6SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P6 </string>
      </property>
@@ -143,6 +164,9 @@
    </item>
    <item>
     <widget class="QDoubleSpinBox" name="param7SpinBox">
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
      <property name="prefix">
       <string>P7 </string>
      </property>