Started parameter interface refactoring to adhere to MVC design pattern....

Started parameter interface refactoring to adhere to MVC design pattern. Working on getting custom widgets completely up and running

qgroundcontrol.pro

@@ -157,7 +157,9 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCWaypointListMulti.ui \
     src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
-    src/ui/QGCSettingsWidget.ui
+    src/ui/QGCSettingsWidget.ui \
+    src/ui/mission/QGCMissionDoWidget.ui \
+    src/ui/mission/QGCMissionConditionWidget.ui
 
 INCLUDEPATH += src \
     src/ui \
@@ -269,7 +271,10 @@ HEADERS += src/MG.h \
     src/uas/QGCMAVLinkUASFactory.h \
     src/ui/QGCWaypointListMulti.h \
     src/ui/QGCUDPLinkConfiguration.h \
-    src/ui/QGCSettingsWidget.h
+    src/ui/QGCSettingsWidget.h \
+    src/ui/mission/QGCMissionDoWidget.h \
+    src/ui/mission/QGCMissionConditionWidget.h \
+    src/uas/QGCUASParamManager.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -396,7 +401,10 @@ SOURCES += src/main.cc \
     src/uas/QGCMAVLinkUASFactory.cc \
     src/ui/QGCWaypointListMulti.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
-    src/ui/QGCSettingsWidget.cc
+    src/ui/QGCSettingsWidget.cc \
+    src/ui/mission/QGCMissionDoWidget.cc \
+    src/ui/mission/QGCMissionConditionWidget.cc \
+    src/uas/QGCUASParamManager.cc
 
 macx|win32-msvc2008: {
     SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/uas/QGCUASParamManager.cc

+#include "QGCUASParamManager.h"
+#include "UASInterface.h"
+
+QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
+    QWidget(parent),
+    mav(uas),
+    transmissionListMode(false),
+    transmissionActive(false),
+    transmissionTimeout(0),
+    retransmissionTimeout(350),
+    rewriteTimeout(500),
+    retransmissionBurstRequestSize(2)
+{
+    uas->setParamManager(this);
+}
+
+
+/**
+ * The .. signal is emitted
+ */
+void QGCUASParamManager::requestParameterListUpdate(int component)
+{
+
+}
+
+/**
+ * The .. signal is emitted
+ */
+void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter)
+{
+
+}

src/uas/QGCUASParamManager.h

+#ifndef QGCUASPARAMMANAGER_H
+#define QGCUASPARAMMANAGER_H
+
+#include <QWidget>
+#include <QMap>
+#include <QTimer>
+
+class UASInterface;
+
+class QGCUASParamManager : public QWidget
+{
+    Q_OBJECT
+public:
+    QGCUASParamManager(UASInterface* uas, QWidget *parent = 0);
+
+    QList<QString> getParameterNames(int component) const { return parameters.value(component)->keys(); }
+    QList<float> getParameterValues(int component) const { return parameters.value(component)->values(); }
+    float getParameterValue(int component, const QString& parameter) const { return parameters.value(component)->value(parameter); }
+
+    /** @brief Request an update for the parameter list */
+    void requestParameterListUpdate(int component = 0);
+    /** @brief Request an update for this specific parameter */
+    void requestParameterUpdate(int component, const QString& parameter);
+
+signals:
+    void parameterChanged(int component, QString parameter, float value);
+    void parameterChanged(int component, int parameterIndex, float value);
+    void parameterListUpToDate(int component);
+
+public slots:
+
+protected:
+    UASInterface* mav;   ///< The MAV this widget is controlling
+    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
+    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QVector<bool> received; ///< Successfully received parameters
+    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
+    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    bool transmissionListMode;       ///< Currently requesting list
+    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
+    bool transmissionActive;         ///< Missing packets, working on list?
+    quint64 transmissionTimeout;     ///< Timeout
+    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
+    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
+    int rewriteTimeout; ///< Write request timeout, in milliseconds
+    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
+
+};
+
+#endif // QGCUASPARAMMANAGER_H

src/uas/UAS.cc

@@ -29,7 +29,7 @@
 
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 uasId(id),
-startTime(MG::TIME::getGroundTimeNow()),
+startTime(QGC::groundTimeMilliseconds()),
 commStatus(COMM_DISCONNECTED),
 name(""),
 autopilot(-1),
@@ -73,7 +73,8 @@ yaw(0.0),
 statusTimeout(new QTimer(this)),
 paramsOnceRequested(false),
 airframe(0),
-attitudeKnown(false)
+attitudeKnown(false),
+paramManager(NULL)
 {
     color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);

src/uas/UAS.h

@@ -176,6 +176,7 @@ protected: //COMMENTS FOR TEST UNIT
     bool paramsOnceRequested;   ///< If the parameter list has been read at least once
     int airframe;               ///< The airframe type
     bool attitudeKnown;         ///< True if attitude was received, false else
+    QGCUASParamManager* paramManager; ///< Parameter manager class
 
 public:
     /** @brief Set the current battery type */
@@ -192,6 +193,11 @@ public:
     bool isAuto();
 
     UASWaypointManager* getWaypointManager() { return &waypointManager; }
+    /** @brief Get reference to the param manager **/
+    QGCUASParamManager* getParamManager() const { return paramManager; }
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    void setParamManager(QGCUASParamManager* manager) { paramManager = manager; }
     int getSystemType();
     QImage getImage();
     void requestImage(); // ?

src/uas/UASInterface.h

@@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkInterface.h"
 #include "ProtocolInterface.h"
 #include "UASWaypointManager.h"
+#include "QGCUASParamManager.h"
 #include "RadioCalibration/RadioCalibrationData.h"
 
 /**
@@ -85,6 +86,11 @@ public:
 
     /** @brief Get reference to the waypoint manager **/
     virtual UASWaypointManager* getWaypointManager(void) = 0;
+    /** @brief Get reference to the param manager **/
+    virtual QGCUASParamManager* getParamManager() const = 0;
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    virtual void setParamManager(QGCUASParamManager* manager) = 0;
 
     /* COMMUNICATION FLAGS */
 

src/ui/QGCParamWidget.cc

@@ -43,18 +43,8 @@ This file is part of the QGROUNDCONTROL project
  * @param parent Parent widget
  */
 QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
-        QWidget(parent),
-        mav(uas),
-        components(new QMap<int, QTreeWidgetItem*>()),
-        paramGroups(),
-        changedValues(),
-        parameters(),
-        transmissionListMode(false),
-        transmissionActive(false),
-        transmissionTimeout(0),
-        retransmissionTimeout(350),
-        rewriteTimeout(500),
-        retransmissionBurstRequestSize(2)
+        QGCUASParamManager(uas, parent),
+        components(new QMap<int, QTreeWidgetItem*>())
 {
     // Load settings
     loadSettings();

src/ui/QGCParamWidget.h

@@ -37,16 +37,17 @@ This file is part of the QGROUNDCONTROL project
 #include <QLabel>
 #include <QTimer>
 
+#include "QGCUASParamManager.h"
 #include "UASInterface.h"
 
 /**
  * @brief Widget to read/set onboard parameters
  */
-class QGCParamWidget : public QWidget
+class QGCParamWidget : public QGCUASParamManager
 {
 Q_OBJECT
 public:
-    explicit QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
+    QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
     /** @brief Get the UAS of this widget */
     UASInterface* getUAS();
 signals:
@@ -85,24 +86,10 @@ public slots:
     void retransmissionGuardTick();
 
 protected:
-    UASInterface* mav;   ///< The MAV this widget is controlling
     QTreeWidget* tree;   ///< The parameter tree
     QLabel* statusLabel; ///< Parameter transmission label
     QMap<int, QTreeWidgetItem*>* components; ///< The list of components
     QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
-    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
-    QVector<bool> received; ///< Successfully received parameters
-    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
-    bool transmissionListMode;       ///< Currently requesting list
-    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
-    bool transmissionActive;         ///< Missing packets, working on list?
-    quint64 transmissionTimeout;     ///< Timeout
-    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
-    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
-    int rewriteTimeout; ///< Write request timeout, in milliseconds
-    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
 
     /** @brief Activate / deactivate parameter retransmission */
     void setRetransmissionGuardEnabled(bool enabled);

src/ui/WaypointView.cc

@@ -36,19 +36,18 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     customCommand->setupUi(m_ui->customActionWidget);
 
     // add actions
-    m_ui->comboBox_action->addItem(tr("Navigate"),MAV_CMD_NAV_WAYPOINT);
-    m_ui->comboBox_action->addItem(tr("TakeOff"),MAV_CMD_NAV_TAKEOFF);
-    m_ui->comboBox_action->addItem(tr("Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
-    m_ui->comboBox_action->addItem(tr("Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
-    m_ui->comboBox_action->addItem(tr("Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
-    m_ui->comboBox_action->addItem(tr("Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
-    m_ui->comboBox_action->addItem(tr("Land"),MAV_CMD_NAV_LAND);
+    m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
+    m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
+    m_ui->comboBox_action->addItem(tr("NAV: Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
+    m_ui->comboBox_action->addItem(tr("NAV: Land"),MAV_CMD_NAV_LAND);
+    m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
+    m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
+    m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
+    m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
     m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
-    //    m_ui->comboBox_action->addItem(tr("Delay"), MAV_ACTION_DELAY_BEFORE_COMMAND);
-    //    m_ui->comboBox_action->addItem(tr("Ascend/Descent"), MAV_ACTION_ASCEND_AT_RATE);
-    //    m_ui->comboBox_action->addItem(tr("Change Mode"), MAV_ACTION_CHANGE_MODE);
-    //    m_ui->comboBox_action->addItem(tr("Relay ON"), MAV_ACTION_RELAY_ON);
-    //    m_ui->comboBox_action->addItem(tr("Relay OFF"), MAV_ACTION_RELAY_OFF);
 
     // add frames 
     m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
@@ -204,6 +203,17 @@ void WaypointView::updateActionView(int action)
         m_ui->orbitSpinBox->show();
         m_ui->holdTimeSpinBox->show();
         break;
+    case MAV_CMD_NAV_TARGET:
+        m_ui->orbitSpinBox->hide();
+        m_ui->takeOffAngleSpinBox->hide();
+        m_ui->turnsSpinBox->hide();
+        m_ui->holdTimeSpinBox->show();
+        m_ui->customActionWidget->hide();
+
+        m_ui->autoContinue->show();
+        m_ui->acceptanceSpinBox->hide();
+        m_ui->yawSpinBox->hide();
+        break;
     default:
         break;
     }

src/ui/designer/QGCParamSlider.ui

@@ -7,14 +7,14 @@
     <x>0</x>
     <y>0</y>
     <width>499</width>
-    <height>173</height>
+    <height>175</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <item row="1" column="0">
+   <item row="1" column="0" colspan="4">
     <widget class="QLineEdit" name="editNameLabel">
      <property name="text">
       <string>Informal Name..</string>
@@ -69,24 +69,69 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="0" colspan="6">
+   <item row="5" column="0" colspan="7">
     <widget class="QLabel" name="editStatusLabel">
      <property name="text">
-      <string>TextLabel</string>
+      <string>Please click on refresh to update list..</string>
      </property>
     </widget>
    </item>
    <item row="3" column="0" colspan="3">
-    <widget class="QComboBox" name="editSelectComponentComboBox"/>
+    <widget class="QComboBox" name="editSelectComponentComboBox">
+     <property name="toolTip">
+      <string>Select component</string>
+     </property>
+     <property name="statusTip">
+      <string>Select component</string>
+     </property>
+    </widget>
    </item>
-   <item row="5" column="6">
-    <widget class="QPushButton" name="editDoneButton">
+   <item row="3" column="4" colspan="3">
+    <widget class="QComboBox" name="editSelectParamComboBox">
+     <property name="toolTip">
+      <string>Select parameter</string>
+     </property>
+     <property name="statusTip">
+      <string>Select parameter</string>
+     </property>
+     <item>
+      <property name="text">
+       <string>Click on refresh..</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="2" column="7">
+    <widget class="QPushButton" name="writeButton">
+     <property name="toolTip">
+      <string>Transmit the current slider value to the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Transmit the current slider value to the system</string>
+     </property>
      <property name="text">
-      <string>Done</string>
+      <string/>
+     </property>
+     <property name="icon">
+      <iconset resource="../../../mavground.qrc">
+       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="8">
+    <widget class="QPushButton" name="readButton">
+     <property name="toolTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
+     <property name="text">
+      <string>R</string>
      </property>
     </widget>
    </item>
-   <item row="3" column="6">
+   <item row="3" column="7" colspan="2">
     <widget class="QPushButton" name="editRefreshParamsButton">
      <property name="enabled">
       <bool>true</bool>
@@ -96,17 +141,17 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4" colspan="2">
-    <widget class="QComboBox" name="editSelectParamComboBox">
-     <item>
-      <property name="text">
-       <string>Select Parameter..</string>
-      </property>
-     </item>
+   <item row="5" column="7" colspan="2">
+    <widget class="QPushButton" name="editDoneButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
     </widget>
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../../mavground.qrc"/>
+ </resources>
  <connections/>
 </ui>

src/ui/designer/QGCToolWidget.cc

@@ -175,7 +175,7 @@ void QGCToolWidget::addUAS(UASInterface* uas)
 void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
-    //menu.addAction(addParamAction);
+    menu.addAction(addParamAction);
     menu.addAction(addButtonAction);
     menu.addAction(setTitleAction);
     menu.addAction(deleteAction);
@@ -188,7 +188,7 @@ void QGCToolWidget::createActions()
     addParamAction->setStatusTip(tr("Add a parameter setting slider widget to the tool"));
     connect(addParamAction, SIGNAL(triggered()), this, SLOT(addParam()));
 
-    addButtonAction = new QAction(tr("New MAV &Action Button"), this);
+    addButtonAction = new QAction(tr("New MAV &Command Button"), this);
     addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
     connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
 
@@ -199,6 +199,14 @@ void QGCToolWidget::createActions()
     deleteAction = new QAction(tr("Delete this widget"), this);
     deleteAction->setStatusTip(tr("Delete this widget permanently"));
     connect(deleteAction, SIGNAL(triggered()), this, SLOT(deleteWidget()));
+
+    exportAction = new QAction(tr("Export this widget"), this);
+    exportAction->setStatusTip(tr("Export this widget to be reused by others"));
+    connect(exportAction, SIGNAL(triggered()), this, SLOT(exportWidget()));
+
+    importAction = new QAction(tr("Import widget"), this);
+    importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)"));
+    connect(exportAction, SIGNAL(triggered()), this, SLOT(importWidget()));
 }
 
 QMap<QString, QGCToolWidget*>* QGCToolWidget::instances()
@@ -249,6 +257,16 @@ void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
     toolLayout->addWidget(widget);
 }
 
+void QGCToolWidget::exportWidget()
+{
+
+}
+
+void QGCToolWidget::importWidget(const QString& fileName)
+{
+
+}
+
 const QString QGCToolWidget::getTitle()
 {
     QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());

src/ui/designer/QGCToolWidget.h

@@ -32,6 +32,10 @@ public slots:
     void addUAS(UASInterface* uas);
     /** @brief Delete this widget */
     void deleteWidget();
+    /** @brief Export this widget to a file */
+    void exportWidget();
+    /** @brief Import settings for this widget from a file */
+    void importWidget(const QString& fileName);
     /** @brief Store all widgets of this type to QSettings */
     static void storeWidgetsToSettings();
 
@@ -43,6 +47,8 @@ protected:
     QAction* addButtonAction;
     QAction* setTitleAction;
     QAction* deleteAction;
+    QAction* exportAction;
+    QAction* importAction;
     QVBoxLayout* toolLayout;
     UAS* mav;
     QAction* mainMenuAction;

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/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>40</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QSpinBox" name="doJumpIndexSpinBox">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>10</y>
+     <width>201</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="suffix">
+    <string/>
+   </property>
+   <property name="prefix">
+    <string>list index to jump to: </string>
+   </property>
+   <property name="maximum">
+    <number>5000</number>
+   </property>
+  </widget>
+  <widget class="QSpinBox" name="doJumpRepeatSpinBox">
+   <property name="geometry">
+    <rect>
+     <x>380</x>
+     <y>10</y>
+     <width>121</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="suffix">
+    <string> times</string>
+   </property>
+   <property name="prefix">
+    <string>repeat </string>
+   </property>
+   <property name="maximum">
+    <number>1000</number>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="doSetModeComboBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>111</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>