From cf178232679ca851eb84338a6190f704c5f6c73a Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@pixhawk02.(none)>
Date: Mon, 9 Jan 2012 16:57:11 +0100
Subject: [PATCH] Fixed some bugs that allowed to have multiple or no "current"
 mission elements in Edit list

---
 src/uas/UASWaypointManager.cc | 13 +++++++++++++
 src/ui/WaypointList.cc        |  4 ++--
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 44c86f68b..3e78f4f96 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -401,6 +401,19 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
     if (seq < waypointsEditable.size())
     {
         Waypoint *t = waypointsEditable[seq];
+
+        if (t->getCurrent() == true) //trying to remove the current waypoint
+        {
+            if (seq+1 < waypointsEditable.size()) // setting the next waypoint as current
+            {
+                waypointsEditable[seq+1]->setCurrent(true);
+            }
+            else if (seq-1 >= 0) //if deleting the last on the list, then setting the previous waypoint as current
+            {
+                waypointsEditable[seq-1]->setCurrent(true);
+            }
+        }
+
         waypointsEditable.remove(seq);
         delete t;
         t = NULL;
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 0133a8bbd..fa49ceae2 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -293,7 +293,7 @@ void WaypointList::addCurrentPositionWaypoint()
                 yawGlobal = last->getYaw();
             }
             // Create global frame waypoint per default
-            wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
+            wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, acceptanceRadiusGlobal, holdTime, yawGlobal, true, false, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
             updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
         }
@@ -307,7 +307,7 @@ void WaypointList::addCurrentPositionWaypoint()
                 holdTime = last->getHoldTime();
             }
             // Create local frame waypoint as second option
-            wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
+            wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, false, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
             WPM->addWaypointEditable(wp);
             updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
         }
-- 
2.22.0