Merge pull request #4942 from DonLakeFlyer/ParamNaN

Add support for NaN in mission command params

src/FirmwarePlugin/PX4/MavCmdInfoCommon.json

@@ -7,7 +7,7 @@
         {
             "id":           16,
             "comment":      "MAV_CMD_NAV_WAYPOINT",
-            "paramRemove":  "2,3,4"
+            "paramRemove":  "2,3"
         },
         {
             "id":           21,

src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json

@@ -14,13 +14,13 @@
             "id":           18,
             "comment":      "MAV_CMD_NAV_LOITER_TURNS",
             "description":  "Travel to a position and Loiter for a number of turns.",
-            "paramRemove":  "3,4"
+            "paramRemove":  "3"
         },
         {
             "id":           19,
             "comment":      "MAV_CMD_NAV_LOITER_TIME",
             "description":  "Travel to a position and Loiter for an amount of time.",
-            "paramRemove":  "3,4"
+            "paramRemove":  "3"
         },
         {
             "id":           22,

src/MissionManager/MavCmdInfoCommon.json

@@ -54,7 +54,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "default":          0.0,
+                "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
         },
@@ -71,6 +71,12 @@
                 "units":            "m",
                 "default":          50.0,
                 "decimalPlaces":    2
+            },
+            "param4": {
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "decimalPlaces":    2
             }
         },
         {
@@ -93,11 +99,10 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Exit loiter from",
-                "enumStrings":      "Center,Tangent",
-                "enumValues":       "0,1",
-                "default":          1,
-                "decimalPlaces":    0
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "decimalPlaces":    2
             }
         },
         {
@@ -121,11 +126,10 @@
                 "decimalPlaces":    2
             },
             "param4": {
-                "label":            "Exit loiter from",
-                "enumStrings":      "Center,Tangent",
-                "enumValues":       "0,1",
-                "default":          1,
-                "decimalPlaces":    0
+                "label":            "Heading",
+                "units":            "radians",
+                "nanUnchanged":     true,
+                "decimalPlaces":    2
             }
         },
         {
@@ -153,7 +157,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "default":          0.0,
+                "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
         },
@@ -174,7 +178,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "radians",
-                "default":          0.0,
+                "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
         },
@@ -312,7 +316,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "deg",
-                "default":          0.0,
+                "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
         },
@@ -327,7 +331,7 @@
             "param4": {
                 "label":            "Heading",
                 "units":            "deg",
-                "default":          0.0,
+                "nanUnchanged":     true,
                 "decimalPlaces":    2
             }
         },

src/MissionManager/MavCmdInfoFixedWing.json

@@ -8,6 +8,43 @@
             "id":           16,
             "comment":      "MAV_CMD_NAV_WAYPOINT",
             "paramRemove":  "4"
+        },
+        {
+            "id":           17,
+            "comment":      "MAV_CMD_NAV_LOITER_UNLIM",
+            "paramRemove":  "4"
+        },
+        {
+            "id":           18,
+            "comment":      "MAV_CMD_NAV_LOITER_TURNS",
+            "param4": {
+                "label":            "Exit loiter from",
+                "enumStrings":      "Center,Tangent",
+                "enumValues":       "0,1",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
+        {
+            "id":           19,
+            "comment":      "MAV_CMD_NAV_LOITER_TIME",
+            "param4": {
+                "label":            "Exit loiter from",
+                "enumStrings":      "Center,Tangent",
+                "enumValues":       "0,1",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
+        {
+            "id":           21,
+            "comment":      "MAV_CMD_NAV_LAND",
+            "paramRemove":  "4"
+        },
+        {
+            "id":           22,
+            "comment":      "MAV_CMD_NAV_TAKEOFF",
+            "paramRemove":  "4"
         }
     ]
 }

src/MissionManager/MissionCommandUIInfo.cc

@@ -18,6 +18,7 @@ const char* MissionCommandUIInfo::_defaultJsonKey               = "default";
 const char* MissionCommandUIInfo::_descriptionJsonKey           = "description";
 const char* MissionCommandUIInfo::_enumStringsJsonKey           = "enumStrings";
 const char* MissionCommandUIInfo::_enumValuesJsonKey            = "enumValues";
+const char* MissionCommandUIInfo::_nanUnchangedJsonKey          = "nanUnchanged";
 const char* MissionCommandUIInfo::_friendlyEditJsonKey          = "friendlyEdit";
 const char* MissionCommandUIInfo::_friendlyNameJsonKey          = "friendlyName";
 const char* MissionCommandUIInfo::_idJsonKey                    = "id";
@@ -62,6 +63,7 @@ const MissionCmdParamInfo& MissionCmdParamInfo::operator=(const MissionCmdParamI
     _label =            other._label;
     _param =            other._param;
     _units =            other._units;
+    _nanUnchanged =     other._nanUnchanged;
 
     return *this;
 }
@@ -333,7 +335,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
             QJsonObject paramObject = jsonObject.value(paramKey).toObject();
 
             QStringList allParamKeys;
-            allParamKeys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
+            allParamKeys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey << _nanUnchangedJsonKey;
 
             // Look for unknown keys in param object
             foreach (const QString& key, paramObject.keys()) {
@@ -345,7 +347,7 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
 
             // Validate key types
             QList<QJsonValue::Type> types;
-            types << QJsonValue::Double <<  QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
+            types << QJsonValue::Double <<  QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Bool;
             if (!JsonHelper::validateKeyTypes(jsonObject, allParamKeys, types, internalError)) {
                 errorString = _loadErrorString(internalError);
                 return false;
@@ -362,11 +364,17 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
             MissionCmdParamInfo* paramInfo = new MissionCmdParamInfo(this);
 
             paramInfo->_label =         paramObject.value(_labelJsonKey).toString();
-            paramInfo->_defaultValue =  paramObject.value(_defaultJsonKey).toDouble(0.0);
             paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::unknownDecimalPlaces);
             paramInfo->_enumStrings =   paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
             paramInfo->_param =         i;
             paramInfo->_units =         paramObject.value(_unitsJsonKey).toString();
+            paramInfo->_nanUnchanged =  paramObject.value(_nanUnchangedJsonKey).toBool(false);
+
+            if (paramObject.contains(_defaultJsonKey)) {
+                paramInfo->_defaultValue =  paramObject.value(_defaultJsonKey).toDouble(0.0);
+            } else {
+                paramInfo->_defaultValue = _nanUnchangedJsonKey ? std::numeric_limits<double>::quiet_NaN() : 0;
+            }
 
             QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
             foreach (const QString &enumValue, enumValues) {
@@ -394,7 +402,8 @@ bool MissionCommandUIInfo::loadJsonInfo(const QJsonObject& jsonObject, bool requ
                                         << paramInfo->_param
                                         << paramInfo->_units
                                         << paramInfo->_enumStrings
-                                        << paramInfo->_enumValues;
+                                        << paramInfo->_enumValues
+                                        << paramInfo->_nanUnchanged;
 
             _paramInfoMap[i] = paramInfo;
         }

src/MissionManager/MissionCommandUIInfo.h

@@ -31,10 +31,11 @@ class MissionCommandTreeTest;
 /// Key             Type    Default     Description
 /// label           string  required    Label for text field
 /// units           string              Units for value, should use FactMetaData units strings in order to get automatic translation
-/// default         double  0.0         Default value for param
+/// default         double  0.0/NaN     Default value for param. If no default value specified and nanUnchanged == true, then defaultVlue is NaN.
 /// decimalPlaces   int     7           Number of decimal places to show for value
 /// enumStrings     string              Strings to show in combo box for selection
 /// enumValues      string              Values assocaited with each enum string
+/// nanUnchanged    bool    false       True: value can be set to NaN to signal unchanged
 ///
 class MissionCmdParamInfo : public QObject {
 
@@ -53,6 +54,7 @@ public:
     Q_PROPERTY(QString      label           READ label          CONSTANT)
     Q_PROPERTY(int          param           READ param          CONSTANT)
     Q_PROPERTY(QString      units           READ units          CONSTANT)
+    Q_PROPERTY(bool         nanUnchanged    READ nanUnchanged   CONSTANT)
 
     int             decimalPlaces   (void) const { return _decimalPlaces; }
     double          defaultValue    (void) const { return _defaultValue; }
@@ -61,6 +63,7 @@ public:
     QString         label           (void) const { return _label; }
     int             param           (void) const { return _param; }
     QString         units           (void) const { return _units; }
+    bool            nanUnchanged    (void) const { return _nanUnchanged; }
 
 private:
     int             _decimalPlaces;
@@ -70,6 +73,7 @@ private:
     QString         _label;
     int             _param;
     QString         _units;
+    bool            _nanUnchanged;
 
     friend class MissionCommandTree;
     friend class MissionCommandUIInfo;
@@ -167,6 +171,7 @@ private:
     static const char* _descriptionJsonKey;
     static const char* _enumStringsJsonKey;
     static const char* _enumValuesJsonKey;
+    static const char* _nanUnchangedJsonKey;
     static const char* _friendlyNameJsonKey;
     static const char* _friendlyEditJsonKey;
     static const char* _idJsonKey;

src/MissionManager/SimpleMissionItem.cc

@@ -75,6 +75,7 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
     _updateCameraSection();
 
     setDefaultsForCommand();
+    _rebuildFacts();
 
     connect(&_missionItem, &MissionItem::specifiedFlightSpeedChanged, this, &SimpleMissionItem::specifiedFlightSpeedChanged);
 
@@ -110,8 +111,8 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missio
     _setupMetaData();
     _connectSignals();
     _updateCameraSection();
-
     _syncFrameToAltitudeRelativeToHome();
+    _rebuildFacts();
 }
 
 SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
@@ -138,6 +139,8 @@ SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* pa
     _updateCameraSection();
 
     *this = other;
+
+    _rebuildFacts();
 }
 
 const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& other)
@@ -147,8 +150,8 @@ const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& o
     setRawEdit(other._rawEdit);
     setDirty(other._dirty);
     setHomePositionSpecialCase(other._homePositionSpecialCase);
-
     _syncFrameToAltitudeRelativeToHome();
+    _rebuildFacts();
 
     return *this;
 }
@@ -191,8 +194,8 @@ void SimpleMissionItem::_connectSignals(void)
     connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);
 
     // Whenever these properties change the ui model changes as well
-    connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_sendUiModelChanged);
-    connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_sendUiModelChanged);
+    connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_rebuildFacts);
+    connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_rebuildFacts);
 
     // These fact signals must alway signal out through SimpleMissionItem signals
     connect(&_missionItem._commandFact,     &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
@@ -350,53 +353,35 @@ QString SimpleMissionItem::abbreviation() const
     }
 }
 
-void SimpleMissionItem::_clearParamMetaData(void)
-{
-    _param1MetaData.setRawUnits("");
-    _param1MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
-    _param1MetaData.setBuiltInTranslator();
-    _param2MetaData.setRawUnits("");
-    _param2MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
-    _param2MetaData.setBuiltInTranslator();
-    _param3MetaData.setRawUnits("");
-    _param3MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
-    _param3MetaData.setBuiltInTranslator();
-    _param4MetaData.setRawUnits("");
-    _param4MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
-    _param4MetaData.setBuiltInTranslator();
-}
-
-QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
+void SimpleMissionItem::_rebuildTextFieldFacts(void)
 {
-    QmlObjectListModel* model = new QmlObjectListModel(this);
+    _textFieldFacts.clear();
     
     if (rawEdit()) {
         _missionItem._param1Fact._setName("Param1");
         _missionItem._param1Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param1Fact);
+        _textFieldFacts.append(&_missionItem._param1Fact);
         _missionItem._param2Fact._setName("Param2");
         _missionItem._param2Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param2Fact);
+        _textFieldFacts.append(&_missionItem._param2Fact);
         _missionItem._param3Fact._setName("Param3");
         _missionItem._param3Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param3Fact);
+        _textFieldFacts.append(&_missionItem._param3Fact);
         _missionItem._param4Fact._setName("Param4");
         _missionItem._param4Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param4Fact);
+        _textFieldFacts.append(&_missionItem._param4Fact);
         _missionItem._param5Fact._setName("Lat/X");
         _missionItem._param5Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param5Fact);
+        _textFieldFacts.append(&_missionItem._param5Fact);
         _missionItem._param6Fact._setName("Lon/Y");
         _missionItem._param6Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param6Fact);
+        _textFieldFacts.append(&_missionItem._param6Fact);
         _missionItem._param7Fact._setName("Alt/Z");
         _missionItem._param7Fact.setMetaData(_defaultParamMetaData);
-        model->append(&_missionItem._param7Fact);
+        _textFieldFacts.append(&_missionItem._param7Fact);
     } else {
         _ignoreDirtyChangeSignals = true;
 
-        _clearParamMetaData();
-
         MAV_CMD command;
         if (_homePositionSpecialCase) {
             command = MAV_CMD_NAV_LAST;
@@ -412,52 +397,84 @@ QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
         for (int i=1; i<=7; i++) {
             const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
 
-            if (paramInfo && paramInfo->enumStrings().count() == 0) {
+            if (paramInfo && paramInfo->enumStrings().count() == 0 && !paramInfo->nanUnchanged()) {
                 Fact*               paramFact =     rgParamFacts[i-1];
                 FactMetaData*       paramMetaData = rgParamMetaData[i-1];
 
                 paramFact->_setName(paramInfo->label());
                 paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
-                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
                 paramMetaData->setRawUnits(paramInfo->units());
                 paramFact->setMetaData(paramMetaData);
-                model->append(paramFact);
+                _textFieldFacts.append(paramFact);
             }
         }
 
         if (uiInfo->specifiesCoordinate() || uiInfo->specifiesAltitudeOnly()) {
             _missionItem._param7Fact._setName("Altitude");
             _missionItem._param7Fact.setMetaData(_altitudeMetaData);
-            model->append(&_missionItem._param7Fact);
+            _textFieldFacts.append(&_missionItem._param7Fact);
         }
 
         _ignoreDirtyChangeSignals = false;
     }
-    
-    return model;
 }
 
-QmlObjectListModel* SimpleMissionItem::checkboxFacts(void)
+void SimpleMissionItem::_rebuildNaNFacts(void)
 {
-    QmlObjectListModel* model = new QmlObjectListModel(this);
+    _nanFacts.clear();
+
+    if (!rawEdit()) {
+        _ignoreDirtyChangeSignals = true;
+
+        MAV_CMD command;
+        if (_homePositionSpecialCase) {
+            command = MAV_CMD_NAV_LAST;
+        } else {
+            command = _missionItem.command();
+        }
 
+        Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
+        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
+
+        const MissionCommandUIInfo* uiInfo = _commandTree->getUIInfo(_vehicle, command);
+
+        for (int i=1; i<=7; i++) {
+            const MissionCmdParamInfo* paramInfo = uiInfo->getParamInfo(i);
+
+            if (paramInfo && paramInfo->nanUnchanged()) {
+                Fact*               paramFact =     rgParamFacts[i-1];
+                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
+
+                paramFact->_setName(paramInfo->label());
+                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
+                paramMetaData->setRawUnits(paramInfo->units());
+                paramFact->setMetaData(paramMetaData);
+                _nanFacts.append(paramFact);
+            }
+        }
+
+        _ignoreDirtyChangeSignals = false;
+    }
+}
+
+void SimpleMissionItem::_rebuildCheckboxFacts(void)
+{
+    _checkboxFacts.clear();
 
     if (rawEdit()) {
-        model->append(&_missionItem._autoContinueFact);
+        _checkboxFacts.append(&_missionItem._autoContinueFact);
     } else if ((specifiesCoordinate() || specifiesAltitudeOnly()) && !_homePositionSpecialCase) {
-        model->append(&_altitudeRelativeToHomeFact);
+        _checkboxFacts.append(&_altitudeRelativeToHomeFact);
     }
-
-    return model;
 }
 
-QmlObjectListModel* SimpleMissionItem::comboboxFacts(void)
+void SimpleMissionItem::_rebuildComboBoxFacts(void)
 {
-    QmlObjectListModel* model = new QmlObjectListModel(this);
+    _comboboxFacts.clear();
 
     if (rawEdit()) {
-        model->append(&_missionItem._commandFact);
-        model->append(&_missionItem._frameFact);
+        _comboboxFacts.append(&_missionItem._commandFact);
+        _comboboxFacts.append(&_missionItem._frameFact);
     } else {
         Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
         FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
@@ -481,12 +498,18 @@ QmlObjectListModel* SimpleMissionItem::comboboxFacts(void)
                 paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
                 paramMetaData->setRawUnits(paramInfo->units());
                 paramFact->setMetaData(paramMetaData);
-                model->append(paramFact);
+                _comboboxFacts.append(paramFact);
             }
         }
     }
+}
 
-    return model;
+void SimpleMissionItem::_rebuildFacts(void)
+{
+    _rebuildTextFieldFacts();
+    _rebuildNaNFacts();
+    _rebuildCheckboxFacts();
+    _rebuildComboBoxFacts();
 }
 
 bool SimpleMissionItem::friendlyEditAllowed(void) const
@@ -604,11 +627,6 @@ void SimpleMissionItem::setDefaultsForCommand(void)
     setRawEdit(false);
 }
 
-void SimpleMissionItem::_sendUiModelChanged(void)
-{
-    emit uiModelChanged();
-}
-
 void SimpleMissionItem::_sendFrameChanged(void)
 {
     emit frameChanged(_missionItem.frame());

src/MissionManager/SimpleMissionItem.h

@@ -40,9 +40,10 @@ public:
     Q_PROPERTY(QObject*         cameraSection           READ cameraSection                                      NOTIFY cameraSectionChanged)
 
     // These properties are used to display the editing ui
-    Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
-    Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  NOTIFY uiModelChanged)
-    Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts NOTIFY uiModelChanged)
+    Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  comboboxFacts   READ comboboxFacts  CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  textFieldFacts  READ textFieldFacts CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  nanFacts        READ nanFacts       CONSTANT)
 
     /// Scans the loaded items for additional section settings
     ///     @param visualItems List of all visual items
@@ -59,9 +60,10 @@ public:
     bool            rawEdit             (void) const;
     CameraSection*  cameraSection       (void) { return _cameraSection; }
 
-    QmlObjectListModel* textFieldFacts  (void);
-    QmlObjectListModel* checkboxFacts   (void);
-    QmlObjectListModel* comboboxFacts   (void);
+    QmlObjectListModel* textFieldFacts  (void) { return &_textFieldFacts; }
+    QmlObjectListModel* nanFacts        (void) { return &_nanFacts; }
+    QmlObjectListModel* checkboxFacts   (void) { return &_checkboxFacts; }
+    QmlObjectListModel* comboboxFacts   (void) { return &_comboboxFacts; }
 
     void setRawEdit(bool rawEdit);
     
@@ -120,28 +122,29 @@ signals:
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
-    void uiModelChanged             (void);
     void cameraSectionChanged       (QObject* cameraSection);
 
 private slots:
-    void _setDirtyFromSignal(void);
-    void _cameraSectionDirtyChanged(bool dirty);
-    void _sendCommandChanged(void);
-    void _sendCoordinateChanged(void);
-    void _sendFrameChanged(void);
-    void _sendFriendlyEditAllowedChanged(void);
-    void _sendUiModelChanged(void);
-    void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
-    void _syncFrameToAltitudeRelativeToHome(void);
-    void _updateLastSequenceNumber(void);
+    void _setDirtyFromSignal            (void);
+    void _cameraSectionDirtyChanged         (bool dirty);
+    void _sendCommandChanged                (void);
+    void _sendCoordinateChanged             (void);
+    void _sendFrameChanged                  (void);
+    void _sendFriendlyEditAllowedChanged    (void);
+    void _syncAltitudeRelativeToHomeToFrame (const QVariant& value);
+    void _syncFrameToAltitudeRelativeToHome (void);
+    void _updateLastSequenceNumber          (void);
+    void _rebuildFacts                      (void);
 
 private:
-    void _clearParamMetaData(void);
-    void _connectSignals(void);
-    void _setupMetaData(void);
-    void _updateCameraSection(void);
+    void _connectSignals        (void);
+    void _setupMetaData         (void);
+    void _updateCameraSection   (void);
+    void _rebuildTextFieldFacts (void);
+    void _rebuildNaNFacts       (void);
+    void _rebuildCheckboxFacts  (void);
+    void _rebuildComboBoxFacts  (void);
 
-private:
     MissionItem _missionItem;
     bool        _rawEdit;
     bool        _dirty;
@@ -154,6 +157,11 @@ private:
     Fact    _altitudeRelativeToHomeFact;
     Fact    _supportedCommandFact;
 
+    QmlObjectListModel  _textFieldFacts;
+    QmlObjectListModel  _nanFacts;
+    QmlObjectListModel  _checkboxFacts;
+    QmlObjectListModel  _comboboxFacts;
+    
     static FactMetaData*    _altitudeMetaData;
     static FactMetaData*    _commandMetaData;
     static FactMetaData*    _defaultParamMetaData;

src/MissionManager/SurveyMissionItem.cc

@@ -926,7 +926,8 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
                                         MAV_CMD_NAV_WAYPOINT,
                                         altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
                                         cameraTrigger == CameraTriggerHoverAndCapture ? 1 : 0,  // Hold time (1 second for hover and capture to settle vehicle before image is taken)
-                                        0.0, 0.0, 0.0,                                          // param 2-4 unused
+                                        0.0, 0.0,
+                                        std::numeric_limits<double>::quiet_NaN(),   // Yaw unchanged
                                         coord.latitude(),
                                         coord.longitude(),
                                         altitude,

src/PlanView/SimpleItemEditor.qml

@@ -107,6 +107,37 @@ Rectangle {
                         }
                     }
 
+                    GridLayout {
+                        anchors.left:   parent.left
+                        anchors.right:  parent.right
+                        columns:        2
+
+                        Repeater {
+                            model: missionItem.nanFacts
+
+                            QGCCheckBox {
+                                text:           object.name
+                                Layout.column:  0
+                                Layout.row:     index
+                                checked:        !isNaN(object.rawValue)
+                                onClicked:      object.rawValue = checked ? 0 : NaN
+                            }
+                        }
+
+                        Repeater {
+                            model: missionItem.nanFacts
+
+                            FactTextField {
+                                showUnits:          true
+                                fact:               object
+                                Layout.column:      1
+                                Layout.row:         index
+                                Layout.fillWidth:   true
+                                enabled:            !isNaN(object.rawValue)
+                            }
+                        }
+                    }
+
                     Repeater {
                         model: missionItem.checkboxFacts