Added update of current waypoint indicator

src/ui/uas/UASControlWidget.cc

@@ -201,16 +201,14 @@ void UASControlWidget::cycleContextButton()
         if (!engineOn)
         {
             ui.controlButton->setText(tr("Stop Engine"));
-            mav->setMode(MAV_MODE_MANUAL);
             mav->enable_motors();
-            ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(uas->getUASName()));
+            ui.lastActionLabel->setText(QString("Attempted to enable motors on %1").arg(uas->getUASName()));
         }
         else
         {
             ui.controlButton->setText(tr("Activate Engine"));
-            mav->setMode(MAV_MODE_LOCKED);
             mav->disable_motors();
-            ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(uas->getUASName()));
+            ui.lastActionLabel->setText(QString("Attempted to disable motors on %1").arg(uas->getUASName()));
         }
             //ui.controlButton->setText(tr("Force Landing"));
             //ui.controlButton->setText(tr("KILL VEHICLE"));

src/ui/uas/UASView.cc

@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include "MG.h"
 #include "UASManager.h"
 #include "UASView.h"
+#include "UASWaypointManager.h"
 #include "ui_UASView.h"
 
 UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -75,6 +76,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
     //connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
     connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
+    connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
 
     // Setup UAS selection
@@ -251,6 +253,11 @@ void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 u
     totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
 }
 
+void UASView::currentWaypointUpdated(quint16 waypoint)
+{
+    m_ui->waypointLabel->setText(tr("WP") + QString::number(waypoint));
+}
+
 void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
 {
     Q_UNUSED(x);

src/ui/uas/UASView.h

@@ -63,6 +63,8 @@ public slots:
     void refresh();
     /** @brief Receive new waypoint information */
     void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+    /** @brief Update the current active waypoint */
+    void currentWaypointUpdated(quint16 waypoint);
     /** @brief Set waypoint as current target */
     void selectWaypoint(int uasId, int id);
     /** @brief Set the current system type */