Final version of the "editable"-mission redesign.

a3bf4c81 · pixhawk · 838e5e78 · a3bf4c81 · a3bf4c81 · a3bf4c81
Commit a3bf4c81 authored Feb 07, 2012 by pixhawk
19 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -243,7 +243,10 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/mission/QGCMissionConditionDelay.ui \
    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
    src/ui/mission/QGCMissionNavLoiterTurns.ui \
-    src/ui/mission/QGCMissionNavLoiterTime.ui
+    src/ui/mission/QGCMissionNavLoiterTime.ui \
+    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
+    src/ui/mission/QGCMissionNavLand.ui \
+    src/ui/mission/QGCMissionNavTakeoff.ui
 INCLUDEPATH += src \
    src/ui \
    src/ui/linechart \
@@ -371,7 +374,10 @@ HEADERS += src/MG.h \
    src/ui/mission/QGCMissionConditionDelay.h \
    src/ui/mission/QGCMissionNavLoiterUnlim.h \
    src/ui/mission/QGCMissionNavLoiterTurns.h \
-    src/ui/mission/QGCMissionNavLoiterTime.h
+    src/ui/mission/QGCMissionNavLoiterTime.h \
+    src/ui/mission/QGCMissionNavReturnToLaunch.h \
+    src/ui/mission/QGCMissionNavLand.h \
+    src/ui/mission/QGCMissionNavTakeoff.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
@@ -508,7 +514,10 @@ SOURCES += src/main.cc \
    src/ui/mission/QGCMissionConditionDelay.cc \
    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
    src/ui/mission/QGCMissionNavLoiterTurns.cc \
-    src/ui/mission/QGCMissionNavLoiterTime.cc
+    src/ui/mission/QGCMissionNavLoiterTime.cc \
+    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
+    src/ui/mission/QGCMissionNavLand.cc \
+    src/ui/mission/QGCMissionNavTakeoff.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

--- a/src/ui/WaypointEditableView.cc
+++ b/src/ui/WaypointEditableView.cc
@@ -25,6 +25,9 @@
 #include "QGCMissionNavLoiterUnlim.h"
 #include "QGCMissionNavLoiterTurns.h"
 #include "QGCMissionNavLoiterTime.h"
+#include "QGCMissionNavReturnToLaunch.h"
+#include "QGCMissionNavLand.h"
+#include "QGCMissionNavTakeoff.h"
 #include "QGCMissionConditionDelay.h"
 #include "QGCMissionDoJump.h"
 #include "QGCMissionOther.h"
@@ -50,6 +53,9 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
    MissionNavLoiterUnlimWidget = NULL;
    MissionNavLoiterTurnsWidget = NULL;
    MissionNavLoiterTimeWidget = NULL;
+    MissionNavReturnToLaunchWidget = NULL;
+    MissionNavLandWidget = NULL;
+    MissionNavTakeoffWidget = NULL;
    MissionDoJumpWidget = NULL;
    MissionConditionDelayWidget = NULL;
    MissionOtherWidget = NULL;
@@ -130,9 +136,12 @@ void WaypointEditableView::updateActionView(int action)
    if(MissionNavLoiterUnlimWidget) MissionNavLoiterUnlimWidget->hide();
    if(MissionNavLoiterTurnsWidget) MissionNavLoiterTurnsWidget->hide();
    if(MissionNavLoiterTimeWidget) MissionNavLoiterTimeWidget->hide();
-    if(MissionOtherWidget) MissionOtherWidget->hide();
+    if(MissionNavReturnToLaunchWidget) MissionNavReturnToLaunchWidget->hide();
+    if(MissionNavLandWidget) MissionNavLandWidget->hide();
+    if(MissionNavTakeoffWidget) MissionNavTakeoffWidget->hide();
    if(MissionConditionDelayWidget) MissionConditionDelayWidget->hide();
    if(MissionDoJumpWidget) MissionDoJumpWidget->hide();
+    if(MissionOtherWidget) MissionOtherWidget->hide();

    //Show only the correct one
    if (viewMode != QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING)
@@ -151,8 +160,14 @@ void WaypointEditableView::updateActionView(int action)
            if(MissionNavLoiterTimeWidget) MissionNavLoiterTimeWidget->show();
            break;
        case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+            if(MissionNavReturnToLaunchWidget) MissionNavReturnToLaunchWidget->show();
+            break;
        case MAV_CMD_NAV_LAND:
+            if(MissionNavLandWidget) MissionNavLandWidget->show();
+            break;
        case MAV_CMD_NAV_TAKEOFF:
+            if(MissionNavTakeoffWidget) MissionNavTakeoffWidget->show();
+            break;
        case MAV_CMD_CONDITION_DELAY:
            if(MissionConditionDelayWidget) MissionConditionDelayWidget->show();
            break;
@@ -227,8 +242,26 @@ void WaypointEditableView::initializeActionView(int actionID)
        }
        break;
    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+        if (!MissionNavReturnToLaunchWidget)
+        {
+            MissionNavReturnToLaunchWidget = new QGCMissionNavReturnToLaunch(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavReturnToLaunchWidget);
+        }
+        break;
    case MAV_CMD_NAV_LAND:
+        if (!MissionNavLandWidget)
+        {
+            MissionNavLandWidget = new QGCMissionNavLand(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavLandWidget);
+        }
+        break;
    case MAV_CMD_NAV_TAKEOFF:
+        if (!MissionNavTakeoffWidget)
+        {
+            MissionNavTakeoffWidget = new QGCMissionNavTakeoff(this);
+            m_ui->customActionWidget->layout()->addWidget(MissionNavTakeoffWidget);
+        }
+        break;
    case MAV_CMD_CONDITION_DELAY:
        if (!MissionConditionDelayWidget)
        {

--- a/src/ui/WaypointEditableView.h
+++ b/src/ui/WaypointEditableView.h
@@ -50,6 +50,9 @@ class QGCMissionNavWaypoint;
 class QGCMissionNavLoiterUnlim;
 class QGCMissionNavLoiterTurns;
 class QGCMissionNavLoiterTime;
+class QGCMissionNavReturnToLaunch;
+class QGCMissionNavLand;
+class QGCMissionNavTakeoff;
 class QGCMissionDoJump;
 class QGCMissionConditionDelay;
 class QGCMissionOther;
@@ -99,6 +102,9 @@ protected:
    QGCMissionNavLoiterUnlim* MissionNavLoiterUnlimWidget;
    QGCMissionNavLoiterTurns* MissionNavLoiterTurnsWidget;
    QGCMissionNavLoiterTime* MissionNavLoiterTimeWidget;
+    QGCMissionNavReturnToLaunch* MissionNavReturnToLaunchWidget;
+    QGCMissionNavLand* MissionNavLandWidget;
+    QGCMissionNavTakeoff* MissionNavTakeoffWidget;
    QGCMissionDoJump* MissionDoJumpWidget;
    QGCMissionConditionDelay* MissionConditionDelayWidget;
    QGCMissionOther* MissionOtherWidget;

--- a/src/ui/mission/QGCMissionConditionDelay.ui
+++ b/src/ui/mission/QGCMissionConditionDelay.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionDoJump.ui
+++ b/src/ui/mission/QGCMissionDoJump.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionNavLand.cc
+++ b/src/ui/mission/QGCMissionNavLand.cc
+#include "QGCMissionNavLand.h"
+#include "ui_QGCMissionNavLand.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavLand::QGCMissionNavLand(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavLand)
+{
+    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->param3SpinBox, 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->param3SpinBox,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 QGCMissionNavLand::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;
+    }
+}
+
+QGCMissionNavLand::~QGCMissionNavLand()
+{
+    delete ui;
+}
--- a/src/ui/mission/QGCMissionNavLand.h
+++ b/src/ui/mission/QGCMissionNavLand.h
+#ifndef QGCMISSIONNAVLAND_H
+#define QGCMISSIONNAVLAND_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavLand;
+}
+
+class QGCMissionNavLand : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavLand(WaypointEditableView* WEV);
+    ~QGCMissionNavLand();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavLand *ui;
+};
+
+#endif // QGCMISSIONNAVLAND_H
--- a/src/ui/mission/QGCMissionNavLand.ui
+++ b/src/ui/mission/QGCMissionNavLand.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionNavLand</class>
+ <widget class="QWidget" name="QGCMissionNavLand">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>2208</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>0</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="posNSpinBox">
+     <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>Position X coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position X corrdinate</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>N </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posESpinBox">
+     <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>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>E </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posDSpinBox">
+     <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>Position Z coordinate (local frame, negative)</string>
+     </property>
+     <property name="statusTip">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>D </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="latSpinBox">
+     <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>Latitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Latitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lat </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-90.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>90.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="lonSpinBox">
+     <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>Longitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Longitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lon </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="altSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="statusTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>alt </string>
+     </property>
+     <property name="suffix">
+      <string>m</string>
+     </property>
+     <property name="decimals">
+      <number>2</number>
+     </property>
+     <property name="minimum">
+      <double>-100000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="yawSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="statusTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="wrapping">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string/>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/mission/QGCMissionNavLoiterTime.ui
+++ b/src/ui/mission/QGCMissionNavLoiterTime.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionNavLoiterTurns.ui
+++ b/src/ui/mission/QGCMissionNavLoiterTurns.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionNavLoiterUnlim.ui
+++ b/src/ui/mission/QGCMissionNavLoiterUnlim.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionNavReturnToLaunch.cc
+++ b/src/ui/mission/QGCMissionNavReturnToLaunch.cc
+#include "QGCMissionNavReturnToLaunch.h"
+#include "ui_QGCMissionNavReturnToLaunch.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavReturnToLaunch::QGCMissionNavReturnToLaunch(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavReturnToLaunch)
+{
+    ui->setupUi(this);
+    this->WEV = WEV;
+}
+
+QGCMissionNavReturnToLaunch::~QGCMissionNavReturnToLaunch()
+{
+    delete ui;
+}
--- a/src/ui/mission/QGCMissionNavReturnToLaunch.h
+++ b/src/ui/mission/QGCMissionNavReturnToLaunch.h
+#ifndef QGCMISSIONNAVRETURNTOLAUNCH_H
+#define QGCMISSIONNAVRETURNTOLAUNCH_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavReturnToLaunch;
+}
+
+class QGCMissionNavReturnToLaunch : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavReturnToLaunch(WaypointEditableView* WEV);
+    ~QGCMissionNavReturnToLaunch();
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavReturnToLaunch *ui;
+};
+
+#endif // QGCMISSIONNAVRETURNTOLAUNCH_H
--- a/src/ui/mission/QGCMissionNavReturnToLaunch.ui
+++ b/src/ui/mission/QGCMissionNavReturnToLaunch.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionNavReturnToLaunch</class>
+ <widget class="QWidget" name="QGCMissionNavReturnToLaunch">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>258</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>0</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="QLabel" name="noParamLabel">
+     <property name="text">
+      <string>No Parameters</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/mission/QGCMissionNavTakeoff.cc
+++ b/src/ui/mission/QGCMissionNavTakeoff.cc
+#include "QGCMissionNavTakeoff.h"
+#include "ui_QGCMissionNavTakeoff.h"
+#include "WaypointEditableView.h"
+
+QGCMissionNavTakeoff::QGCMissionNavTakeoff(WaypointEditableView* WEV) :
+    QWidget(WEV),
+    ui(new Ui::QGCMissionNavTakeoff)
+    {
+    ui->setupUi(this);
+    this->WEV = WEV;
+
+    //Using UI to change WP:
+    connect(this->ui->minPitchSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam1(double)));
+    //connect(this->ui->acceptanceSpinBox, SIGNAL(valueChanged(double)),WEV,SLOT(changedParam2(double)));
+    //connect(this->ui->param3SpinBox, 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->minPitchSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param2Broadcast(double)),this->ui->acceptanceSpinBox,SLOT(setValue(double)));
+    //connect(WEV,SIGNAL(param3Broadcast(double)),this->ui->param3SpinBox,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 QGCMissionNavTakeoff::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;
+    }
+}
+
+QGCMissionNavTakeoff::~QGCMissionNavTakeoff()
+{
+    delete ui;
+}
--- a/src/ui/mission/QGCMissionNavTakeoff.h
+++ b/src/ui/mission/QGCMissionNavTakeoff.h
+#ifndef QGCMISSIONNAVTAKEOFF_H
+#define QGCMISSIONNAVTAKEOFF_H
+
+#include <QWidget>
+#include "WaypointEditableView.h"
+
+namespace Ui {
+    class QGCMissionNavTakeoff;
+}
+
+class QGCMissionNavTakeoff : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionNavTakeoff(WaypointEditableView* WEV);
+    ~QGCMissionNavTakeoff();
+
+public slots:
+    void updateFrame(MAV_FRAME);
+
+protected:
+    WaypointEditableView* WEV;
+
+private:
+    Ui::QGCMissionNavTakeoff *ui;
+};
+
+#endif // QGCMISSIONNAVTAKEOFF_H
--- a/src/ui/mission/QGCMissionNavTakeoff.ui
+++ b/src/ui/mission/QGCMissionNavTakeoff.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionNavTakeoff</class>
+ <widget class="QWidget" name="QGCMissionNavTakeoff">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>2208</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>0</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="posNSpinBox">
+     <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>Position X coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position X corrdinate</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>N </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posESpinBox">
+     <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>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="statusTip">
+      <string>Position Y/Longitude coordinate</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>E </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="posDSpinBox">
+     <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>Position Z coordinate (local frame, negative)</string>
+     </property>
+     <property name="statusTip">
+      <string/>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>D </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-10000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>10000.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="latSpinBox">
+     <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>Latitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Latitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lat </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-90.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>90.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="lonSpinBox">
+     <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>Longitude in degrees</string>
+     </property>
+     <property name="statusTip">
+      <string>Longitude in degrees</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>lon </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>7</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.000010000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="altSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="statusTip">
+      <string>Altitude in meters</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string>alt </string>
+     </property>
+     <property name="suffix">
+      <string>m</string>
+     </property>
+     <property name="decimals">
+      <number>2</number>
+     </property>
+     <property name="minimum">
+      <double>-100000.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="yawSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="statusTip">
+      <string>Rotary wing only: Desired yaw angle at waypoint</string>
+     </property>
+     <property name="wrapping">
+      <bool>true</bool>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="prefix">
+      <string/>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>-180.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="minPitchSpinBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="toolTip">
+      <string>Minimum Pitch</string>
+     </property>
+     <property name="statusTip">
+      <string>Minimum Pitch</string>
+     </property>
+     <property name="keyboardTracking">
+      <bool>false</bool>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+     <property name="decimals">
+      <number>0</number>
+     </property>
+     <property name="minimum">
+      <double>-90.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>90.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/mission/QGCMissionNavWaypoint.ui
+++ b/src/ui/mission/QGCMissionNavWaypoint.ui
@@ -18,7 +18,7 @@
  </property>
  <property name="minimumSize">
   <size>
-    <width>200</width>
+    <width>0</width>
    <height>0</height>
   </size>
  </property>

--- a/src/ui/mission/QGCMissionOther.ui
+++ b/src/ui/mission/QGCMissionOther.ui
@@ -10,6 +10,18 @@
    <height>27</height>
   </rect>
  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>