Decoupled WP frame from custom command fields

src/uas/UAS.cc

@@ -455,7 +455,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "altitude", "m", hud.alt, time);
                 emit valueChanged(uasId, "heading", "deg", hud.heading, time);
                 emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
-                emit valueChanged(uasId, "throttle", "m/s", hud.throttle, time);
+                emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
                 emit thrustChanged(this, hud.throttle/100.0);
                 emit altitudeChanged(uasId, hud.alt);
                 //yaw = (hud.heading-180.0f/360.0f)*M_PI;

src/ui/MainWindow.cc

@@ -408,7 +408,7 @@ void MainWindow::buildPxWidgets()
     acceptList->append("0,airspeed,m/s,30");
     acceptList->append("0,groundspeed,m/s,30");
     acceptList->append("0,climbrate,m/s,30");
-    acceptList->append("0,throttle,m/s,100");
+    acceptList->append("0,throttle,%,100");
 
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();

src/ui/WaypointView.cc

@@ -24,6 +24,7 @@
 WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
         QWidget(parent),
         customCommand(new Ui_QGCCustomWaypointAction),
+        viewMode(QGC_WAYPOINTVIEW_MODE_NAV),
         m_ui(new Ui::WaypointView)
 {
     m_ui->setupUi(this);
@@ -247,47 +248,28 @@ void WaypointView::changedAction(int index)
     case MAV_CMD_NAV_LOITER_TIME:
     case MAV_CMD_CONDITION_DELAY:
     case MAV_CMD_DO_SET_MODE:
-        // Back to global frame
-        if (wp->getFrame() == MAV_FRAME_MISSION) changedFrame(0);
+        changeViewMode(QGC_WAYPOINTVIEW_MODE_NAV);
+        // Update frame view
+        updateFrameView(m_ui->comboBox_frame->currentIndex());
         // Update view
         updateActionView(actionIndex);
         break;
     case MAV_CMD_ENUM_END:
     default:
         // Switch to mission frame
-        changedFrame(MAV_FRAME_MISSION);
-        wp->setFrame(MAV_FRAME_MISSION);
+        changeViewMode(QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING);
         break;
     }
 }
 
-void WaypointView::updateFrameView(int frame)
+void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
 {
-    switch(frame)
+    switch (mode)
     {
-    case MAV_FRAME_GLOBAL:
-        m_ui->posNSpinBox->hide();
-        m_ui->posESpinBox->hide();
-        m_ui->posDSpinBox->hide();
-        m_ui->lonSpinBox->show();
-        m_ui->latSpinBox->show();
-        m_ui->altSpinBox->show();
-        // Coordinate frame
-        m_ui->comboBox_frame->show();
-        m_ui->customActionWidget->hide();
-        break;
-    case MAV_FRAME_LOCAL:
-        m_ui->lonSpinBox->hide();
-        m_ui->latSpinBox->hide();
-        m_ui->altSpinBox->hide();
-        m_ui->posNSpinBox->show();
-        m_ui->posESpinBox->show();
-        m_ui->posDSpinBox->show();
-        // Coordinate frame
-        m_ui->comboBox_frame->show();
-        m_ui->customActionWidget->hide();
+    case QGC_WAYPOINTVIEW_MODE_NAV:
+
         break;
-    case MAV_FRAME_MISSION:
+    case QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING:
         // Hide almost everything
         m_ui->orbitSpinBox->hide();
         m_ui->takeOffAngleSpinBox->hide();
@@ -301,7 +283,6 @@ void WaypointView::updateFrameView(int frame)
         m_ui->latSpinBox->hide();
         m_ui->lonSpinBox->hide();
         m_ui->altSpinBox->hide();
-        m_ui->comboBox_frame->hide();
 
         // Show action widget
         if (!m_ui->customActionWidget->isVisible())
@@ -313,6 +294,35 @@ void WaypointView::updateFrameView(int frame)
             m_ui->autoContinue->show();
         }
         break;
+    }
+}
+
+void WaypointView::updateFrameView(int frame)
+{
+    switch(frame)
+    {
+    case MAV_FRAME_GLOBAL:
+        m_ui->posNSpinBox->hide();
+        m_ui->posESpinBox->hide();
+        m_ui->posDSpinBox->hide();
+        m_ui->lonSpinBox->show();
+        m_ui->latSpinBox->show();
+        m_ui->altSpinBox->show();
+        // Coordinate frame
+        m_ui->comboBox_frame->show();
+        m_ui->customActionWidget->hide();
+        break;
+    case MAV_FRAME_LOCAL:
+        m_ui->lonSpinBox->hide();
+        m_ui->latSpinBox->hide();
+        m_ui->altSpinBox->hide();
+        m_ui->posNSpinBox->show();
+        m_ui->posESpinBox->show();
+        m_ui->posDSpinBox->show();
+        // Coordinate frame
+        m_ui->comboBox_frame->show();
+        m_ui->customActionWidget->hide();
+        break;
     default:
         std::cerr << "unknown frame" << std::endl;
     }
@@ -403,10 +413,8 @@ void WaypointView::updateValues()
             }
         }
         break;
-    case (MAV_FRAME_MISSION):
-        {
-            // TODO Change to mission view
-        }
+    default:
+        // Do nothing
         break;
     }
 

src/ui/WaypointView.h

@@ -37,6 +37,13 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include <iostream>
 
+enum QGC_WAYPOINTVIEW_MODE {
+    QGC_WAYPOINTVIEW_MODE_NAV,
+    QGC_WAYPOINTVIEW_MODE_CONDITION,
+    QGC_WAYPOINTVIEW_MODE_DO,
+    QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING
+};
+
 namespace Ui {
     class WaypointView;
 }
@@ -68,12 +75,16 @@ public slots:
     
     void setYaw(int);   //hidden degree to radian conversion
     
+protected slots:
+    void changeViewMode(QGC_WAYPOINTVIEW_MODE mode);
+
 protected:
     virtual void changeEvent(QEvent *e);
     Waypoint* wp;
     // Special widgets extendending the
     // waypoint view to mission capabilities
     Ui_QGCCustomWaypointAction* customCommand;
+    QGC_WAYPOINTVIEW_MODE viewMode;
     
 private:
     Ui::WaypointView *m_ui;