Use true list models for vehicles and mission items

QGCApplication.pro

@@ -261,6 +261,7 @@ HEADERS += \
     src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
+    src/QmlControls/QmlObjectListModel.h \
     src/SerialPortIds.h \
     src/uas/FileManager.h \
     src/uas/UAS.h \
@@ -393,6 +394,7 @@ SOURCES += \
     src/QGCTemporaryFile.cc \
     src/QmlControls/ParameterEditorController.cc \
     src/QmlControls/ScreenToolsController.cc \
+    src/QmlControls/QmlObjectListModel.cc \
     src/uas/FileManager.cc \
     src/uas/UAS.cc \
     src/uas/UASMessageHandler.cc \

src/FlightMap/MapItems/MissionMapItem.qml

@@ -26,16 +26,18 @@ import QtLocation   5.3
 
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controls      1.0
+import QGroundControl.Vehicle       1.0
 
 /// Marker for displaying a mission item on the map
 MapQuickItem {
-    property int index
+    property var missionItem        ///< Mission Item object
 
-    anchorPoint.x: sourceItem.width  / 2
-    anchorPoint.y: sourceItem.height / 2
+    anchorPoint.x:  sourceItem.width  / 2
+    anchorPoint.y:  sourceItem.height / 2
+    coordinate:     missionItem.coordinate
 
     sourceItem:
         MissionItemIndexLabel {
-            missionItemIndex: index
+            missionItemIndex: missionItem.id
         }
 }

src/FlightMap/qmldir

@@ -21,4 +21,4 @@ QGCWaypointEditor       1.0 QGCWaypointEditor.qml
 
 # MapQuickItems
 VehicleMapItem          1.0 VehicleMapItem.qml
-MissioMapItem           1.0 MissionMapItem.qml
+MissionMapItem          1.0 MissionMapItem.qml

src/MissionItem.h

@@ -37,6 +37,7 @@
 class MissionItem : public QObject
 {
     Q_OBJECT
+    
 public:
     MissionItem(
         QObject *parent = 0,
@@ -251,6 +252,4 @@ private:
     QString _oneDecimalString(double value);
 };
 
-QML_DECLARE_TYPE(MissionItem)
-
 #endif

src/QGCApplication.cc

@@ -84,6 +84,7 @@ G_END_DECLS
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
 #include "JoystickManager.h"
+#include "QmlObjectListModel.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -328,11 +329,13 @@ void QGCApplication::_initCommon(void)
     
     qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
     
-    qmlRegisterUncreatableType<AutoPilotPlugin>("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Can only reference, cannot create");
-    qmlRegisterUncreatableType<VehicleComponent>("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Can only reference, cannot create");
-    qmlRegisterUncreatableType<Vehicle>("QGroundControl.Vehicle", 1, 0, "Vehicle", "Can only reference, cannot create");
-    qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only");
-    qmlRegisterUncreatableType<Joystick>        ("QGroundControl.JoystickManager", 1, 0, "Joystick",        "Reference only");
+    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",  1, 0, "AutoPilotPlugin",    "Can only reference, cannot create");
+    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",  1, 0, "VehicleComponent",   "Can only reference, cannot create");
+    qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",          1, 0, "Vehicle",            "Can only reference, cannot create");
+    qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",          1, 0, "MissionItem",        "Can only reference, cannot create");
+    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",    "Reference only");
+    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",           "Reference only");
+    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel", "Reference only");
     
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
@@ -353,8 +356,6 @@ void QGCApplication::_initCommon(void)
     qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
     qmlRegisterSingletonType<MavlinkQmlSingleton>   ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
     
-    //-- Register MissionItem Interface
-    qmlRegisterInterface<MissionItem>("MissionItem");
     // Show user an upgrade message if the settings version has been bumped up
     bool settingsUpgraded = false;
     if (settings.contains(_settingsVersionKey)) {

src/QmlControls/MissionItemSummary.qml

@@ -2,7 +2,8 @@ import QtQuick                  2.2
 import QtQuick.Controls         1.2
 import QtQuick.Controls.Styles  1.2
 
-import QGroundControl.ScreenTools 1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
 
 /// Mission item summary display control
 Rectangle {
@@ -18,7 +19,7 @@ Rectangle {
     MissionItemIndexLabel {
         anchors.top:        parent.top
         anchors.right:      parent.right
-        missionItemIndex:   missionItem.id + 1
+        missionItemIndex:   missionItem.id
     }
 
     Column {

src/QmlControls/QmlObjectListModel.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "QmlObjectListModel.h"
+
+#include <QDebug>
+
+const int QmlObjectListModel::ObjectRole = Qt::UserRole;
+
+QmlObjectListModel::QmlObjectListModel(QObject* parent)
+    : QAbstractListModel(parent)
+{
+
+}
+
+QmlObjectListModel::~QmlObjectListModel()
+{
+    
+}
+
+int QmlObjectListModel::rowCount(const QModelIndex& parent) const
+{
+    Q_UNUSED(parent);
+    
+    return _objectList.count();
+}
+
+QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
+{
+    if (!index.isValid()) {
+        return QVariant();
+    }
+    
+    if (index.row() >= _objectList.count()) {
+        return QVariant();
+    }
+    
+    if (role == ObjectRole) {
+        return QVariant::fromValue(_objectList[index.row()]);
+    } else {
+        return QVariant();
+    }
+}
+
+QHash<int, QByteArray> QmlObjectListModel::roleNames(void) const
+{
+    QHash<int, QByteArray> hash;
+    
+    hash[ObjectRole] = "object";
+    
+    return hash;
+}
+
+bool QmlObjectListModel::setData(const QModelIndex& index, const QVariant& value, int role)
+{
+    if (index.isValid() && role == ObjectRole) {
+        _objectList.replace(index.row(), value.value<QObject*>());
+        emit dataChanged(index, index);
+        return true;
+    }
+    
+    return false;
+}
+
+bool QmlObjectListModel::insertRows(int position, int rows, const QModelIndex& parent)
+{
+    Q_UNUSED(parent);
+    
+    beginInsertRows(QModelIndex(), position, position + rows - 1);
+    endInsertRows();
+    
+    emit countChanged(count());
+    
+    return true;
+}
+
+bool QmlObjectListModel::removeRows(int position, int rows, const QModelIndex& parent)
+{
+    Q_UNUSED(parent);
+    
+    beginRemoveRows(QModelIndex(), position, position + rows - 1);
+    for (int row=0; row<rows; row++) {
+        _objectList.removeAt(position);
+    }
+    endRemoveRows();
+    
+    emit countChanged(count());
+    
+    return true;
+}
+
+QObject*& QmlObjectListModel::operator[](int index)
+{
+    return _objectList[index];
+}
+
+void QmlObjectListModel::clear(void)
+{
+    while (rowCount()) {
+        removeRows(0, 1);
+    }
+}
+
+void QmlObjectListModel::removeAt(int i)
+{
+    removeRows(i, 1);
+}
+
+void QmlObjectListModel::append(QObject* object)
+{
+    _objectList += object;
+    insertRows(_objectList.count() - 1, 1);
+}
+
+int QmlObjectListModel::count(void)
+{
+    return rowCount();
+}
+
+QObject* QmlObjectListModel::get(int index)
+{
+    return _objectList[index];
+}

src/QmlControls/QmlObjectListModel.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef QmlObjectListModel_H
+#define QmlObjectListModel_H
+
+#include <QAbstractListModel>
+
+class QmlObjectListModel : public QAbstractListModel
+{
+    Q_OBJECT
+    
+public:
+    QmlObjectListModel(QObject* parent = NULL);
+    ~QmlObjectListModel();
+    
+    Q_INVOKABLE QObject* get(int index);
+    
+    Q_PROPERTY(int count READ count NOTIFY countChanged)
+
+    int count(void);
+    void append(QObject* object);
+    void clear(void);
+    void removeAt(int i);
+    QObject*& operator[](int i);
+    
+    // Overrides from QAbstractListModel
+    virtual int	rowCount(const QModelIndex & parent = QModelIndex()) const;
+    virtual QVariant data(const QModelIndex & index, int role = Qt::DisplayRole) const;
+    virtual QHash<int, QByteArray> roleNames(void) const;
+    virtual bool insertRows(int position, int rows, const QModelIndex &index = QModelIndex());
+    virtual bool removeRows(int position, int rows, const QModelIndex &index = QModelIndex());
+    virtual bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole);
+    
+signals:
+    void countChanged(int count);
+	
+private:
+    QList<QObject*> _objectList;
+        
+    static const int ObjectRole;
+};
+
+#endif

src/Vehicle/MultiVehicleManager.cc

@@ -49,7 +49,7 @@ MultiVehicleManager::~MultiVehicleManager()
 
 bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
 {
-    if (!_vehicleMap.contains(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
+    if (!getVehicleById(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
         if (vehicleId == MAVLinkProtocol::instance()->getSystemId()) {
             qgcApp()->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
         }
@@ -74,7 +74,7 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
         connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
         connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::pluginReadyChanged, this, &MultiVehicleManager::_autopilotPluginReadyChanged);
 
-        _vehicleMap[vehicleId] = vehicle;
+        _vehicles.append(vehicle);
         
         emit vehicleAdded(vehicle);
         
@@ -91,10 +91,10 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
     _vehicleBeingDeleted = vehicle;
 
     // Remove from map
-    bool found;
-    foreach(int id, _vehicleMap.keys()) {
-        if (_vehicleMap[id] == _vehicleBeingDeleted) {
-            _vehicleMap.remove(id);
+    bool found = false;
+    for (int i=0; i<_vehicles.count(); i++) {
+        if (_vehicles[i] == _vehicleBeingDeleted) {
+            _vehicles.removeAt(i);
             found = true;
             break;
         }
@@ -128,8 +128,8 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
     /// This means we can now clear the active vehicle property and delete the Vehicle for real.
     
     Vehicle* newActiveVehicle = NULL;
-    if (_vehicleMap.count()) {
-        newActiveVehicle = _vehicleMap.first();
+    if (_vehicles.count()) {
+        newActiveVehicle = qobject_cast<Vehicle*>(_vehicles[0]);
     }
     
     _activeVehicle = newActiveVehicle;
@@ -205,8 +205,8 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
 
 void MultiVehicleManager::setHomePositionForAllVehicles(double lat, double lon, double alt)
 {
-    foreach (Vehicle* vehicle, _vehicleMap) {
-        vehicle->uas()->setHomePosition(lat, lon, alt);
+    for (int i=0; i< _vehicles.count(); i++) {
+        qobject_cast<Vehicle*>(_vehicles[i])->uas()->setHomePosition(lat, lon, alt);
     }
 }
 
@@ -222,28 +222,6 @@ UASWaypointManager* MultiVehicleManager::activeWaypointManager(void)
     return _offlineWaypointManager;
 }
 
-QList<Vehicle*> MultiVehicleManager::vehicles(void)
-{
-    QList<Vehicle*> list;
-    
-    foreach (Vehicle* vehicle, _vehicleMap) {
-        list += vehicle;
-    }
-    
-    return list;
-}
-
-QVariantList MultiVehicleManager::vehiclesAsVariants(void)
-{
-    QVariantList list;
-    
-    foreach (Vehicle* vehicle, _vehicleMap) {
-        list += QVariant::fromValue(vehicle);
-    }
-    
-    return list;
-}
-
 void MultiVehicleManager::saveSetting(const QString &name, const QString& value)
 {
     QSettings settings;
@@ -255,3 +233,26 @@ QString MultiVehicleManager::loadSetting(const QString &name, const QString& def
     QSettings settings;
     return settings.value(name, defaultValue).toString();
 }
+
+Vehicle* MultiVehicleManager::getVehicleById(int vehicleId)
+{
+    for (int i=0; i< _vehicles.count(); i++) {
+        Vehicle* vehicle = qobject_cast<Vehicle*>(_vehicles[i]);
+        if (vehicle->id() == vehicleId) {
+            return vehicle;
+        }
+    }
+
+    return NULL;
+}
+
+QList<Vehicle*> MultiVehicleManager::vehicles(void)
+{
+    QList<Vehicle*> list;
+    
+    for (int i=0; i< _vehicles.count(); i++) {
+        list += qobject_cast<Vehicle*>(_vehicles[i]);
+    }
+    
+    return list;
+}

src/Vehicle/MultiVehicleManager.h

@@ -31,6 +31,7 @@
 #include "Vehicle.h"
 #include "QGCMAVLink.h"
 #include "UASWaypointManager.h"
+#include "QmlObjectListModel.h"
 
 class MultiVehicleManager : public QGCSingleton
 {
@@ -42,16 +43,12 @@ public:
     Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
     Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);
     
-    Q_PROPERTY(bool activeVehicleAvailable          READ activeVehicleAvailable                         NOTIFY activeVehicleAvailableChanged)
-    Q_PROPERTY(bool parameterReadyVehicleAvailable  READ parameterReadyVehicleAvailable                 NOTIFY parameterReadyVehicleAvailableChanged)
-    Q_PROPERTY(Vehicle* activeVehicle               READ activeVehicle          WRITE setActiveVehicle  NOTIFY activeVehicleChanged)
-    Q_PROPERTY(QVariantList vehicles                READ vehiclesAsVariants                                    CONSTANT)
+    Q_PROPERTY(bool                 activeVehicleAvailable          READ activeVehicleAvailable                                 NOTIFY activeVehicleAvailableChanged)
+    Q_PROPERTY(bool                 parameterReadyVehicleAvailable  READ parameterReadyVehicleAvailable                         NOTIFY parameterReadyVehicleAvailableChanged)
+    Q_PROPERTY(Vehicle*             activeVehicle                   READ activeVehicle                  WRITE setActiveVehicle  NOTIFY activeVehicleChanged)
+    Q_PROPERTY(QmlObjectListModel*  vehicles                        READ vehiclesModel                                          CONSTANT)
     
-    // Property accessors
-    bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
-    bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
-    Vehicle* activeVehicle(void) { return _activeVehicle; }
-    void setActiveVehicle(Vehicle* vehicle);
+    // Methods
     
     /// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
     /// will create/update Vehicles as necessary.
@@ -61,17 +58,27 @@ public:
     /// @return true: continue further processing of this message, false: disregard this message
     bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
     
-    Vehicle* getVehicleById(int vehicleId) { return _vehicleMap[vehicleId]; }
+    Vehicle* getVehicleById(int vehicleId);
     
     void setHomePositionForAllVehicles(double lat, double lon, double alt);
     
     UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
     
-    QList<Vehicle*> vehicles(void);
-    QVariantList vehiclesAsVariants(void);
-    
     UASWaypointManager* activeWaypointManager(void);
+    
+    QList<Vehicle*> vehicles(void);
 
+    // Property accessors
+    
+    bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
+    
+    bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
+    
+    Vehicle* activeVehicle(void) { return _activeVehicle; }
+    void setActiveVehicle(Vehicle* vehicle);
+    
+    QmlObjectListModel* vehiclesModel(void) { return &_vehicles; }
+    
 signals:
     void vehicleAdded(Vehicle* vehicle);
     void vehicleRemoved(Vehicle* vehicle);
@@ -103,7 +110,7 @@ private:
     
     QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
     
-    QMap<int, Vehicle*> _vehicleMap;        ///< Map of vehicles keyed by id
+    QmlObjectListModel  _vehicles;
     
     UASWaypointManager* _offlineWaypointManager;
 };

src/Vehicle/Vehicle.cc

@@ -148,6 +148,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     _setSystemType(_mav, _mav->getSystemType());
     _updateArmingState(_mav->isArmed());
     
+    _waypointViewOnlyListChanged();
+    
     _loadSettings();
 }
 
@@ -721,21 +723,14 @@ void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
 void Vehicle::_waypointViewOnlyListChanged()
 {
     if(_wpm) {
-        const QList<MissionItem*> &waypoints = _wpm->getWaypointViewOnlyList();
-        _waypoints.clear();
-        for(int i = 0; i < waypoints.count(); i++) {
-            MissionItem* wp = waypoints[i];
-            _waypoints.append(new MissionItem(*wp));
+        const QList<MissionItem*>& newMisionItems = _wpm->getWaypointViewOnlyList();
+        _missionItems.clear();
+        qCDebug(VehicleLog) << QString("Loading %1 mission items").arg(newMisionItems.count());
+        for(int i = 0; i < newMisionItems.count(); i++) {
+            MissionItem* itemToCopy = newMisionItems[i];
+            MissionItem* item = new MissionItem(*itemToCopy);
+            _missionItems.append(item);
         }
-        emit missionItemsChanged();
-        /*
-         if(_longitude == DEFAULT_LON && _latitude == DEFAULT_LAT && _waypoints.length()) {
-         _longitude = _waypoints[0]->getLongitude();
-         _latitude  = _waypoints[0]->getLatitude();
-         emit longitudeChanged();
-         emit latitudeChanged();
-         }
-         */
     }
 }
 
@@ -929,3 +924,8 @@ void Vehicle::setActive(bool active)
     
     _startJoystick(_active);
 }
+
+QmlObjectListModel* Vehicle::missionItemsModel(void)
+{
+    return &_missionItems;
+}

src/Vehicle/Vehicle.h

@@ -34,6 +34,7 @@
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
 #include "MissionItem.h"
+#include "QmlObjectListModel.h"
 
 class UAS;
 class UASInterface;
@@ -92,8 +93,8 @@ public:
     Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
     Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
     
-    //-- MissionItem management
-    Q_PROPERTY(QQmlListProperty<MissionItem> missionItems READ missionItems NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel CONSTANT)
+    QmlObjectListModel* missionItemsModel(void);
     
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
@@ -202,8 +203,6 @@ public:
     uint16_t        currentWaypoint     () { return _currentWaypoint; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
     
-    QQmlListProperty<MissionItem> missionItems() {return QQmlListProperty<MissionItem>(this, _waypoints); }
-    
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -247,7 +246,6 @@ signals:
     void satelliteLockChanged   ();
     void waypointDistanceChanged();
     void currentWaypointChanged ();
-    void missionItemsChanged    ();
     
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -352,7 +350,8 @@ private:
     int             _satelliteLock;
     UASWaypointManager* _wpm;
     int             _updateCount;
-    QList<MissionItem*>_waypoints;
+    
+    QmlObjectListModel  _missionItems;
     
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;