From d05c3516442944a8535c8da253e2a1608b957e65 Mon Sep 17 00:00:00 2001
From: lm <lm@student.ethz.ch>
Date: Fri, 11 Feb 2011 13:00:55 +0100
Subject: [PATCH] Cleaned up WP storage format

---
 deploy/mac_create_dmg.sh |  2 +-
 src/Waypoint.cc          | 23 +++++++++++------------
 2 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/deploy/mac_create_dmg.sh b/deploy/mac_create_dmg.sh
index 1607f6388..e9c0218b1 100644
--- a/deploy/mac_create_dmg.sh
+++ b/deploy/mac_create_dmg.sh
@@ -8,5 +8,5 @@ mkdir -p qgroundcontrol.app/Contents/Frameworks/
 cp -r /Library/Frameworks/SDL.framework qgroundcontrol.app/Contents/Frameworks/.
 echo -e '\n\nStarting to create disk image. This may take a while..\n'
 macdeployqt qgroundcontrol.app -dmg
-#rm -rf qgroundcontrol.app
+rm -rf qgroundcontrol.app
 echo -e '\n\n QGroundControl .DMG file is now ready for publishing\n'
diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index 1403096a3..a5de8c23e 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -61,11 +61,10 @@ void Waypoint::save(QTextStream &saveStream)
     position = position.arg(y, 0, 'g', 18);
     position = position.arg(z, 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
-    parameters = parameters.arg(param1, 0, 'g', 18);
-    parameters = parameters.arg(param2, 0, 'g', 18);
-    parameters = parameters.arg(orbit, 0, 'g', 18);
-    parameters = parameters.arg(yaw, 0, 'g', 18);
-    saveStream << this->getId() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << this->getCurrent() << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n";
+    parameters = parameters.arg(param1, 0, 'g', 18).arg(param2, 0, 'g', 18).arg(orbit, 0, 'g', 18).arg(yaw, 0, 'g', 18);
+    // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
+    // as documented here: http://qgroundcontrol.org/waypoint_protocol
+    saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n";
 }
 
 bool Waypoint::load(QTextStream &loadStream)
@@ -74,13 +73,13 @@ bool Waypoint::load(QTextStream &loadStream)
     if (wpParams.size() == 12)
     {
         this->id = wpParams[0].toInt();
-        this->frame = (MAV_FRAME) wpParams[1].toInt();
-        this->action = (MAV_CMD) wpParams[2].toInt();
-        this->param1 = wpParams[3].toDouble();
-        this->param2 = wpParams[4].toDouble();
-        this->orbit = wpParams[5].toDouble();
-        this->yaw = wpParams[6].toDouble();
-        this->current = (wpParams[7].toInt() == 1 ? true : false);
+        this->current = (wpParams[1].toInt() == 1 ? true : false);
+        this->frame = (MAV_FRAME) wpParams[2].toInt();
+        this->action = (MAV_CMD) wpParams[3].toInt();
+        this->param1 = wpParams[4].toDouble();
+        this->param2 = wpParams[5].toDouble();
+        this->orbit = wpParams[6].toDouble();
+        this->yaw = wpParams[7].toDouble();
         this->x = wpParams[8].toDouble();
         this->y = wpParams[9].toDouble();
         this->z = wpParams[10].toDouble();
-- 
2.22.0