Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

f4e7354a · Mariano Lizarraga · da15b657 · f2ec2953 · f4e7354a · f4e7354a
Commit f4e7354a authored Mar 02, 2011 by Mariano Lizarraga
50 changed files
--- a/.gitignore
+++ b/.gitignore
+*.swp
+*.nfs
+CMakeFiles
 *Makefile*
 tags
 build

--- a/.gitmodules
+++ b/.gitmodules
-[submodule "MAVLink"]
-	path = MAVLink
-	url = git://github.com/pixhawk/mavlink.git
+[submodule "thirdParty/mavlink"]
+	path = thirdParty/mavlink
+	url = https://github.com/pixhawk/mavlink.git
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
--- a/CMakeModules/FindFlite.cmake
+++ b/CMakeModules/FindFlite.cmake
+FIND_PATH(FLITE_INCLUDE_DIR flite/flite.h)
+
+FIND_LIBRARY(FLITE_MAIN_LIB NAMES flite)
+FIND_LIBRARY(FLITE_CMULEX_LIB NAMES flite_cmulex)
+FIND_LIBRARY(FLITE_CMU_US_KAL_LIB NAMES flite_cmu_us_kal)
+FIND_LIBRARY(FLITE_US_ENGLISH_LIB NAMES flite_usenglish)
+
+SET(FLITE_LIBRARIES
+	${FLITE_MAIN_LIB}
+	${FLITE_CMULEX_LIB}
+	${FLITE_CMU_US_KAL_LIB}
+	${FLITE_US_ENGLISH_LIB}
+	)
+
+IF(FLITE_INCLUDE_DIR AND FLITE_LIBRARIES)
+	SET(FLITE_FOUND TRUE)
+ENDIF(FLITE_INCLUDE_DIR AND FLITE_LIBRARIES)
+
+IF(FLITE_FOUND)
+	IF (NOT Flite_FIND_QUIETLY)
+		MESSAGE(STATUS "Found flite includes:	${FLITE_INCLUDE_DIR}/flite/flite.h")
+		MESSAGE(STATUS "Found flite library: ${FLITE_LIBRARIES}")
+	ENDIF (NOT Flite_FIND_QUIETLY)
+ELSE(FLITE_FOUND)
+	IF (Flite_FIND_REQUIRED)
+		MESSAGE(FATAL_ERROR "Could NOT find flite development files")
+	ENDIF (Flite_FIND_REQUIRED)
+ENDIF(FLITE_FOUND)
--- a/CMakeModules/FindMAVLINK.cmake
+++ b/CMakeModules/FindMAVLINK.cmake
+# - Try to find  MAVLINK
+# Once done, this will define
+#
+#  MAVLINK_FOUND - system has scicoslab 
+#  MAVLINK_INCLUDE_DIRS - the scicoslab include directories
+
+include(LibFindMacros)
+
+# Include dir
+find_path(MAVLINK_INCLUDE_DIR
+	NAMES mavlink_types.h
+	PATHS 
+  		/usr/include/mavlink
+  		/usr/local/include/mavlink
+)
+
+# Set the include dir variables and the libraries and let libfind_process do the rest.
+# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
+set(MAVLINK_PROCESS_INCLUDES MAVLINK_INCLUDE_DIR)
+libfind_process(MAVLINK)
--- a/CMakeModules/FindPhonon.cmake
+++ b/CMakeModules/FindPhonon.cmake
+# Find libphonon
+# Once done this will define
+#
+#  PHONON_FOUND    - system has Phonon Library
+#  PHONON_INCLUDES - the Phonon include directory
+#  PHONON_LIBS     - link these to use Phonon
+#  PHONON_VERSION  - the version of the Phonon Library
+
+# Copyright (c) 2008, Matthias Kretz <kretz@kde.org>
+#
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+macro(_phonon_find_version)
+   set(_phonon_namespace_header_file "${PHONON_INCLUDE_DIR}/phonon/phononnamespace.h")
+   if (APPLE AND EXISTS "${PHONON_INCLUDE_DIR}/Headers/phononnamespace.h")
+      set(_phonon_namespace_header_file "${PHONON_INCLUDE_DIR}/Headers/phononnamespace.h")
+   endif (APPLE AND EXISTS "${PHONON_INCLUDE_DIR}/Headers/phononnamespace.h")
+   file(READ ${_phonon_namespace_header_file} _phonon_header LIMIT 5000 OFFSET 1000)
+   string(REGEX MATCH "define PHONON_VERSION_STR \"(4\\.[0-9]+\\.[0-9a-z]+)\"" _phonon_version_match "${_phonon_header}")
+   set(PHONON_VERSION "${CMAKE_MATCH_1}")
+endmacro(_phonon_find_version)
+
+# the dirs listed with HINTS are searched before the default sets of dirs
+find_library(PHONON_LIBRARY NAMES phonon HINTS ${KDE4_LIB_INSTALL_DIR} ${QT_LIBRARY_DIR})
+find_path(PHONON_INCLUDE_DIR NAMES phonon/phonon_export.h HINTS ${KDE4_INCLUDE_INSTALL_DIR} ${QT_INCLUDE_DIR} ${INCLUDE_INSTALL_DIR} ${QT_LIBRARY_DIR})
+
+if(PHONON_INCLUDE_DIR AND PHONON_LIBRARY)
+   set(PHONON_LIBS ${phonon_LIB_DEPENDS} ${PHONON_LIBRARY})
+   set(PHONON_INCLUDES ${PHONON_INCLUDE_DIR}/phonon ${PHONON_INCLUDE_DIR}/KDE ${PHONON_INCLUDE_DIR})
+   _phonon_find_version()
+endif(PHONON_INCLUDE_DIR AND PHONON_LIBRARY)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Phonon  DEFAULT_MSG  PHONON_INCLUDE_DIR PHONON_LIBRARY)
+
+mark_as_advanced(PHONON_INCLUDE_DIR PHONON_LIBRARY)
--- a/CMakeModules/LibFindMacros.cmake
+++ b/CMakeModules/LibFindMacros.cmake
+# Works the same as find_package, but forwards the "REQUIRED" and "QUIET" arguments
+# used for the current package. For this to work, the first parameter must be the
+# prefix of the current package, then the prefix of the new package etc, which are
+# passed to find_package.
+macro (libfind_package PREFIX)
+  set (LIBFIND_PACKAGE_ARGS ${ARGN})
+  if (${PREFIX}_FIND_QUIETLY)
+    set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} QUIET)
+  endif (${PREFIX}_FIND_QUIETLY)
+  if (${PREFIX}_FIND_REQUIRED)
+    set (LIBFIND_PACKAGE_ARGS ${LIBFIND_PACKAGE_ARGS} REQUIRED)
+  endif (${PREFIX}_FIND_REQUIRED)
+  find_package(${LIBFIND_PACKAGE_ARGS})
+endmacro (libfind_package)
+
+# CMake developers made the UsePkgConfig system deprecated in the same release (2.6)
+# where they added pkg_check_modules. Consequently I need to support both in my scripts
+# to avoid those deprecated warnings. Here's a helper that does just that.
+# Works identically to pkg_check_modules, except that no checks are needed prior to use.
+macro (libfind_pkg_check_modules PREFIX PKGNAME)
+  if (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
+    include(UsePkgConfig)
+    pkgconfig(${PKGNAME} ${PREFIX}_INCLUDE_DIRS ${PREFIX}_LIBRARY_DIRS ${PREFIX}_LDFLAGS ${PREFIX}_CFLAGS)
+  else (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
+    find_package(PkgConfig)
+    if (PKG_CONFIG_FOUND)
+      pkg_check_modules(${PREFIX} ${PKGNAME})
+    endif (PKG_CONFIG_FOUND)
+  endif (${CMAKE_MAJOR_VERSION} EQUAL 2 AND ${CMAKE_MINOR_VERSION} EQUAL 4)
+endmacro (libfind_pkg_check_modules)
+
+# Do the final processing once the paths have been detected.
+# If include dirs are needed, ${PREFIX}_PROCESS_INCLUDES should be set to contain
+# all the variables, each of which contain one include directory.
+# Ditto for ${PREFIX}_PROCESS_LIBS and library files.
+# Will set ${PREFIX}_FOUND, ${PREFIX}_INCLUDE_DIRS and ${PREFIX}_LIBRARIES.
+# Also handles errors in case library detection was required, etc.
+macro (libfind_process PREFIX)
+  # Skip processing if already processed during this run
+  if (NOT ${PREFIX}_FOUND)
+    # Start with the assumption that the library was found
+    set (${PREFIX}_FOUND TRUE)
+
+    # Process all includes and set _FOUND to false if any are missing
+    foreach (i ${${PREFIX}_PROCESS_INCLUDES})
+      if (${i})
+        set (${PREFIX}_INCLUDE_DIRS ${${PREFIX}_INCLUDE_DIRS} ${${i}})
+        mark_as_advanced(${i})
+      else (${i})
+        set (${PREFIX}_FOUND FALSE)
+      endif (${i})
+    endforeach (i)
+
+    # Process all libraries and set _FOUND to false if any are missing
+    foreach (i ${${PREFIX}_PROCESS_LIBS})
+      if (${i})
+        set (${PREFIX}_LIBRARIES ${${PREFIX}_LIBRARIES} ${${i}})
+        mark_as_advanced(${i})
+      else (${i})
+        set (${PREFIX}_FOUND FALSE)
+      endif (${i})
+    endforeach (i)
+
+    # Print message and/or exit on fatal error
+    if (${PREFIX}_FOUND)
+      if (NOT ${PREFIX}_FIND_QUIETLY)
+        message (STATUS "Found ${PREFIX} ${${PREFIX}_VERSION}")
+      endif (NOT ${PREFIX}_FIND_QUIETLY)
+    else (${PREFIX}_FOUND)
+      if (${PREFIX}_FIND_REQUIRED)
+        foreach (i ${${PREFIX}_PROCESS_INCLUDES} ${${PREFIX}_PROCESS_LIBS})
+          message("${i}=${${i}}")
+        endforeach (i)
+        message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, use ccmake to set the missing variables manually.")
+      endif (${PREFIX}_FIND_REQUIRED)
+    endif (${PREFIX}_FOUND)
+  endif (NOT ${PREFIX}_FOUND)
+endmacro (libfind_process)
+
+macro(libfind_library PREFIX basename)
+  set(TMP "")
+  if(MSVC80)
+    set(TMP -vc80)
+  endif(MSVC80)
+  if(MSVC90)
+    set(TMP -vc90)
+  endif(MSVC90)
+  set(${PREFIX}_LIBNAMES ${basename}${TMP})
+  if(${ARGC} GREATER 2)
+    set(${PREFIX}_LIBNAMES ${basename}${TMP}-${ARGV2})
+    string(REGEX REPLACE "\\." "_" TMP ${${PREFIX}_LIBNAMES})
+    set(${PREFIX}_LIBNAMES ${${PREFIX}_LIBNAMES} ${TMP})
+  endif(${ARGC} GREATER 2)
+  find_library(${PREFIX}_LIBRARY
+    NAMES ${${PREFIX}_LIBNAMES}
+    PATHS ${${PREFIX}_PKGCONF_LIBRARY_DIRS}
+  )
+endmacro(libfind_library)
--- a/autobuild.sh
+++ b/autobuild.sh
+#!/bin/bash
+
+PS3='Please enter your choice: '
+LIST="in_source_build install_build grab_debian_dependencies package_source package remake clean END"
+MAKEARGS="-j8"
+echo 
+echo in_source_build: is used for development and you can start the scicoslab toolbox by typing scicoslab in the oooark source directory
+echo install_build: is used for building before final installation to the system.
+echo grab_debian_dependencies: installs all the required packages for debian based systems \(ubuntu maverick/ debian squeeze,lenny\)
+echo remake: calls make again after project has been configured as install or in source build
+echo package_source: creates a source package for distribution
+echo package: creates binary packages for distribution
+echo clean: removes the build directory 
+
+echo
+select OPT in $LIST
+do
+	if [ $OPT = "in_source_build" ] &> /dev/null
+	then
+		echo you chose in source build
+		mkdir -p build && cd build && cmake -DIN_SRC_BUILD:bool=TRUE .. && make $MAKEARGS
+		exit 0
+	elif [ $OPT = "install_build" ] &> /dev/null
+	then
+		echo you chose install build
+		mkdir -p build && cd build && cmake .. && make $MAKEARGS
+		exit 0
+	elif [ $OPT = "grab_debian_dependencies" ] &> /dev/null
+	then
+		echo you chose to install debian dependencies
+		sudo apt-get install cmake libqt4-dev flite1-dev libphonon-dev libopenscenegraph-dev
+		exit 0
+
+	elif [ $OPT = "remake" ] &> /dev/null
+	then
+		echo you chose to recall make on the previously configured build
+		cd build && make $MAKEARGS
+		exit 0
+
+	elif [ $OPT = "package_source" ] &> /dev/null
+	then
+		echo you chose to package the source
+		mkdir -p build && cd build && cmake .. && make package_source
+		exit 0
+
+	elif [ $OPT = "package" ] &> /dev/null
+	then
+		echo you chose to package the binary
+		mkdir -p build && cd build && cmake .. && make package
+		exit 0
+
+	elif [ $OPT = "clean" ] &> /dev/null
+	then
+		echo you chose to clean the build 
+		rm -rf build
+
+	elif [ $OPT = "END" ] &> /dev/null
+	then
+		exit 0
+	fi
+done
--- a/createTags
+++ b/createTags
+#!/bin/bash
+ctags -RV --c++-kinds=+p --fields=+iaS --extra=+q  \
+	. \
+	/usr/include/qt4 \
+	/usr/include/osg*
--- a/images/earth.html
+++ b/images/earth.html
@@ -362,7 +362,6 @@ function updateWaypoint(id, index, lat, lon, alt, action)
 	    location.setAltitude(alt); 
 	    waypoints[index].setGeometry(location);
 	    waypoints[index].setDescription(index+"");
-	    console.log('WP LOC:' + lat + lon + alt);
 	}
 	else
 	{
@@ -373,7 +372,7 @@ function updateWaypoint(id, index, lat, lon, alt, action)
 	    if (index < 10) numberstring = '0' + numberstring
 	    icon.setHref('http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png'); 
 	    var style = ge.createStyle('');
-	    console.log('WP ICON created:' + 'http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
+	    //console.log('WP ICON created:' + 'http://google-maps-icons.googlecode.com/files/red' + numberstring +'.png');
 	    style.getIconStyle().setIcon(icon); 
 	    //style.getIconStyle().setScale(0.5); 
 	    placemark.setStyleSelector(style);
@@ -424,7 +423,7 @@ function createAircraft(id, type, color)
          //planeColor = color;
          
          createTrail(id, color);
-          console.log(color);
+          //console.log(color);
 }

 function createTrail(id, color)

--- a/images/style-mission.css
+++ b/images/style-mission.css
@@ -86,6 +86,13 @@ border: 1px solid #777777;
 QMainWindow::separator:hover {
     background: white;
 }
+ 
+ QGCToolWidgetItem {
+	border: 1px solid #66666B;
+	border-radius: 3px;
+	padding: 10px 0px 0px 0px;
+	margin-top: 1ex; /* leave space at the top for the title */
+ }

 QDockWidget {
     border: 1px solid #32345E;

--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -202,7 +202,12 @@ message("Compiling for linux 32")
    DEPENDENCIES_PRESENT += osg
    # Include OpenSceneGraph libraries
    LIBS += -losg \
-            -losgViewer
+            -losgViewer \
+            -losgGA \
+            -losgDB \
+            -losgText \
+            -lOpenThreads
+
    DEFINES += QGC_OSG_ENABLED
    }

@@ -273,7 +278,12 @@ linux-g++-64 {
    DEPENDENCIES_PRESENT += osg
    # Include OpenSceneGraph libraries
    LIBS += -losg \
-            -losgViewer
+            -losgViewer \
+            -losgGA \
+            -losgDB \
+            -losgText \
+            -lOpenThreads
+
    DEFINES += QGC_OSG_ENABLED
    }

@@ -342,10 +352,10 @@ INCLUDEPATH += $$BASEDIR/lib/osgEarth/win32/include \
 LIBS += -L$$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/lib \
    -losg \
    -losgViewer \
-        -losgGA \
-        -losgDB \
-        -losgText \
-        -lOpenThreads
+    -losgGA \
+    -losgDB \
+    -losgText \
+    -lOpenThreads
 DEFINES += QGC_OSG_ENABLED
 exists($$BASEDIR/lib/osgEarth123) {
    DEPENDENCIES_PRESENT += osgearth
@@ -401,7 +411,7 @@ win32-g++ {

    debug {
        #DESTDIR = $$BUILDDIR/debug
-		CONFIG += console
+    CONFIG += console
    }

    release {
@@ -455,3 +465,4 @@ win32-g++ {
    # see http://osgearth.org/wiki/FAQ for details.
    QMAKE_CXXFLAGS += -Wl,-E
 }
+# vim:ts=4:sw=4:expandtab
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -153,11 +153,14 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/designer/QGCToolWidget.ui \
    src/ui/designer/QGCParamSlider.ui \
    src/ui/designer/QGCActionButton.ui \
+    src/ui/designer/QGCCommandButton.ui \
    src/ui/QGCMAVLinkLogPlayer.ui \
    src/ui/QGCWaypointListMulti.ui \
    src/ui/mission/QGCCustomWaypointAction.ui \
    src/ui/QGCUDPLinkConfiguration.ui \
-    src/ui/QGCSettingsWidget.ui
+    src/ui/QGCSettingsWidget.ui \
+    src/ui/mission/QGCMissionDoWidget.ui \
+    src/ui/mission/QGCMissionConditionWidget.ui

 INCLUDEPATH += src \
    src/ui \
@@ -262,6 +265,7 @@ HEADERS += src/MG.h \
    src/ui/designer/QGCToolWidget.h \
    src/ui/designer/QGCParamSlider.h \
    src/ui/designer/QGCActionButton.h \
+    src/ui/designer/QGCCommandButton.h \
    src/ui/designer/QGCToolWidgetItem.h \
    src/ui/QGCMAVLinkLogPlayer.h \
    src/comm/MAVLinkSimulationWaypointPlanner.h \
@@ -269,7 +273,10 @@ HEADERS += src/MG.h \
    src/uas/QGCMAVLinkUASFactory.h \
    src/ui/QGCWaypointListMulti.h \
    src/ui/QGCUDPLinkConfiguration.h \
-    src/ui/QGCSettingsWidget.h
+    src/ui/QGCSettingsWidget.h \
+    src/ui/mission/QGCMissionDoWidget.h \
+    src/ui/mission/QGCMissionConditionWidget.h \
+    src/uas/QGCUASParamManager.h

 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -389,6 +396,7 @@ SOURCES += src/main.cc \
    src/ui/designer/QGCToolWidget.cc \
    src/ui/designer/QGCParamSlider.cc \
    src/ui/designer/QGCActionButton.cc \
+    src/ui/designer/QGCCommandButton.cc \
    src/ui/designer/QGCToolWidgetItem.cc \
    src/ui/QGCMAVLinkLogPlayer.cc \
    src/comm/MAVLinkSimulationWaypointPlanner.cc \
@@ -396,7 +404,10 @@ SOURCES += src/main.cc \
    src/uas/QGCMAVLinkUASFactory.cc \
    src/ui/QGCWaypointListMulti.cc \
    src/ui/QGCUDPLinkConfiguration.cc \
-    src/ui/QGCSettingsWidget.cc
+    src/ui/QGCSettingsWidget.cc \
+    src/ui/mission/QGCMissionDoWidget.cc \
+    src/ui/mission/QGCMissionConditionWidget.cc \
+    src/uas/QGCUASParamManager.cc

 macx|win32-msvc2008: {
    SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -36,7 +36,8 @@ This file is part of the PIXHAWK project
 #include <QTimer>
 #include <QStringList>
 #ifdef Q_OS_MAC
-#include <Phonon>
+#include <MediaObject>
+#include <AudioOutput>
 #endif
 #ifdef Q_OS_LINUX
 //#include <flite/flite.h>

--- a/src/MissionLog.cc
+++ b/src/MissionLog.cc
-/*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK 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.
- 
-    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
-======================================================================*/
- 
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include <QFile>
-#include <QFlags>
-#include <QThread>
-#include <QSplashScreen>
-#include <QPixmap>
-#include <QDesktopWidget>
-#include <QPainter>
-#include <QStyleFactory>
-#include <QAction>
-
-#include <MissionLog.h>
-#include <MG.h>
-
-#include <QDebug>
-
-
-/**
- * @brief Constructor for the mission log
- *
- **/
-
-MissionLog::MissionLog(QObject* parent) : QObject(parent)
-{
-    logLines = new QMap<QString, LogLine*>();
-    logFiles = new QMap<QString, QFile*>();
-}
-
-/**
- * @brief Destructor for the mission log. It closes all files
- *
- **/
-MissionLog::~MissionLog()
-{
-    delete logFiles;
-    delete logLines;
-}
-
-void MissionLog::startLog(UASInterface* uas, QString format)
-{
-    QString separator;
-
-    if (format.contains(",")) separator = ",";
-    if (format.contains(";")) separator = ";";
-    if (format.contains("\t")) separator = "\t";
-
-    QStringList fields = format.split(separator);
-}
-
-void MissionLog::stopLog(UASInterface* uas, QString format)
-{
-    // TODO Check if file has to be closed explicitely
-    logFiles->remove(format);
-}
-
-
--- a/src/MissionLog.h
+++ b/src/MissionLog.h
-/*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK 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.
- 
-    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
-======================================================================*/
- 
-/**
- * @file
- *   @brief Brief Description
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _MISSIONLOG_H_
-#define _MISSIONLOG_H_
-
-#include <QString>
-#include <QFile>
-#include <QMap>
-#include <UASInterface.h>
-
-/**
- * @brief Log the mission executed by this groundstation
- * 
- * Displays all events in a console window and writes (if enabled) all events to a logfile
- *
- **/
-class MissionLog : public QObject {
-    Q_OBJECT
-
-public:
-    MissionLog(QObject* parent = NULL);
-    ~MissionLog();
-
-public slots:
-    void startLog(UASInterface* uas, QString format);
-    void stopLog(UASInterface* uas, QString format);
-
-protected:
-    /**
-         * @brief This nested class is just a data container for a log line
-         */
-    class LogFile
-    {
-    public:
-        void setField(QString id, double value)
-        {
-            //fields->value(id.trimmed()) = value;
-            fieldsDone++;
-            if (fieldsDone == fields->size()) writeLine();
-        }
-
-            protected:
-        QMap<QString, double>* fields;
-        int fieldsDone;
-        QFile* file;
-
-        LogFile(QFile* file, QString format)
-        {
-            fields = new QMap<QString, double>();
-            fieldsDone = 0;
-            file->open(QIODevice::WriteOnly | QIODevice::Text);
-        }
-
-        void addField(QString id)
-        {
-            fields->insert(id, 0.0f);
-        }
-
-        void writeLine()
-        {
-            QString line = "";
-            // Iterate through the fields
-
-            // Reset value to zero after write
-            line += "\n";
-            file->write(line.toAscii());
-            file->flush();
-        }
-
-    };
-    QMap<QString, LogFile*>* logFiles;
-
-private:
-
-};
-
-#endif // _MISSIONLOG_H_
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -29,8 +29,10 @@ This file is part of the QGROUNDCONTROL project
 *
 */

-#include "Waypoint.h"
 #include <QStringList>
+#include <QDebug>
+
+#include "Waypoint.h"

 Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
                            bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action)
@@ -229,6 +231,8 @@ void Waypoint::setAcceptanceRadius(double radius)

 void Waypoint::setParam1(double param1)
 {
+    qDebug() << "SENDER:" << QObject::sender();
+    qDebug() << "PARAM1 SET REQ:" << param1;
    if (this->param1 != param1)
    {
        this->param1 = param1;

--- a/src/plugins/PxMAV.cc
+++ b/src/plugins/PxMAV.cc
-#include "PxMAV.h"
-
-#include <QtCore>
-
-PxMAV::PxMAV() :
-        UAS(NULL, 0)
-{
-}
-
-PxMAV::PxMAV(MAVLinkProtocol* mavlink, int id) :
-        UAS(mavlink, id)
-{
-}
-
-/**
- * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
- * mavlink packet is received.
- *
- * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
- *             messages can be sent back to the system via this link
- * @param message MAVLink message, as received from the MAVLink protocol stack
- */
-void PxMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
-{
-    // Let UAS handle the default message set
-    UAS::receiveMessage(link, message);
-    mavlink_message_t* msg = &message;
-
-        //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
-
-
-    // Handle your special messages
-    switch (msg->msgid)
-    {
-    case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
-        {
-            mavlink_watchdog_heartbeat_t payload;
-            mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
-            
-            emit watchdogReceived(this->uasId, payload.watchdog_id, payload.process_count);
-        }
-        break;
-        
-    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
-        {
-            mavlink_watchdog_process_info_t payload;
-            mavlink_msg_watchdog_process_info_decode(msg, &payload);
-            
-            emit processReceived(this->uasId, payload.watchdog_id, payload.process_id, QString((const char*)payload.name), QString((const char*)payload.arguments), payload.timeout);
-        }
-        break;
-        
-    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
-        {
-            mavlink_watchdog_process_status_t payload;
-            mavlink_msg_watchdog_process_status_decode(msg, &payload);
-            emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
-        }
-        break;
-    case MAVLINK_MSG_ID_DEBUG_VECT:
-        {
-            mavlink_debug_vect_t vect;
-            mavlink_msg_debug_vect_decode(msg, &vect);
-            QString str((const char*)vect.name);
-            emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
-            emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
-            emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
-        }
-        break;
-    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
-        {
-            mavlink_vision_position_estimate_t pos;
-            mavlink_msg_vision_position_estimate_decode(&message, &pos);
-            quint64 time = getUnixTime(pos.usec);
-            emit valueChanged(uasId, "vis. time", pos.usec, time);
-            emit valueChanged(uasId, "vis. roll", pos.roll, time);
-            emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
-            emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
-            emit valueChanged(uasId, "vis. x", pos.x, time);
-            emit valueChanged(uasId, "vis. y", pos.y, time);
-            emit valueChanged(uasId, "vis. z", pos.z, time);
-            emit valueChanged(uasId, "vis. vx", pos.vx, time);
-            emit valueChanged(uasId, "vis. vy", pos.vy, time);
-            emit valueChanged(uasId, "vis. vz", pos.vz, time);
-            emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
-            // Set internal state
-            if (!positionLock)
-            {
-                // If position was not locked before, notify positive
-               // GAudioOutput::instance()->notifyPositive();
-            }
-            positionLock = true;
-        }
-        break;
-    default:
-        // Do nothing
-        break;
-    }
-}
-
-void PxMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
-{
-    mavlink_watchdog_command_t payload;
-    payload.target_system_id = uasId;
-    payload.watchdog_id = watchdogId;
-    payload.process_id = processId;
-    payload.command_id = (uint8_t)command;
-
-    mavlink_message_t msg;
-    mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
-    sendMessage(msg);
-}
-
- Q_EXPORT_PLUGIN2(pixhawk_plugins, PxMAV)
--- a/src/plugins/PxMAV.h
+++ b/src/plugins/PxMAV.h
-#ifndef PXMAV_H
-#define PXMAV_H
-
-#include "UAS.h"
-
-class PxMAV : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-public:
-    PxMAV(MAVLinkProtocol* mavlink, int id);
-    PxMAV();
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a command to an onboard process */
-    void sendProcessCommand(int watchdogId, int processId, unsigned int command);
-signals:
-    void watchdogReceived(int systemId, int watchdogId, unsigned int processCount);
-    void processReceived(int systemId, int watchdogId, int processId, QString name, QString arguments, int timeout);
-    void processChanged(int systemId, int watchdogId, int processId, int state, bool muted, int crashed, int pid);
-};
-
-#endif // PXMAV_H
--- a/src/uas/Logfile.cc
+++ b/src/uas/Logfile.cc
-#include "Logfile.h"
-#include <QDebug>
-
-LogFile::LogFile(UASInterface* uas, QString filename, QString formatString)
-{
-    this->uas = uas;
-    connect(this->uas, SIGNAL(valueChanged(int, QString, double, quint64)), this, SLOT(addValue(int, QString, double, quint64)));
-    file = new QFile(filename);
-    separator = ",";
-    this->formatString = formatString;
-    if (file->open(QIODevice::WriteOnly | QIODevice::Text))
-    {
-        out = new QTextStream(file);
-    }
-}
-
-LogFile::~LogFile()
-{
-    out->flush();
-    file->close();
-    delete out;
-    delete file;
-}
-
-void LogFile::addValue(int uas, QString id, double value, quint64 timestamp)
-{
-    //out.atEnd()->append() << separator << value;
-
-    if (formatString == id)
-    {
-
-        out->operator <<(timestamp);
-        out->operator <<(separator);
-        out->operator <<(value);
-        out->operator <<("\n");
-        out->flush();
-    }
-}
-
-//std::ofstream markerlog("mavserial_markerlog.txt");
-//std::ofstream attitudelog("mavserial_attitudelog.txt");
-
-
-void LogFile::addValue(QString id, double value)
-{
-    //out.atEnd()->append() << separator << value;
-    //qDebug() << id << value;
-}
--- a/src/uas/Logfile.h
+++ b/src/uas/Logfile.h
-#ifndef LOGFILE_H
-#define LOGFILE_H
-
-#include <QFile>
-#include <QTextStream>
-#include <UASInterface.h>
-
-class LogFile : public QObject
-{
-    Q_OBJECT
-public:
-    LogFile(UASInterface* uas, QString filename, QString formatString="");
-    ~LogFile();
-
-public slots:
-    void addValue(QString id, double value);
-    void addValue(int uas, QString id, double value, quint64 timestamp);
-
-protected:
-    QFile* file;
-    QTextStream* out;
-    QString separator;
-    QString formatString;
-    UASInterface* uas;
-};
-
-#endif // LOGFILE_H
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
+#include "QGCUASParamManager.h"
+#include "UASInterface.h"
+
+QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
+    QWidget(parent),
+    mav(uas),
+    transmissionListMode(false),
+    transmissionActive(false),
+    transmissionTimeout(0),
+    retransmissionTimeout(350),
+    rewriteTimeout(500),
+    retransmissionBurstRequestSize(2)
+{
+    uas->setParamManager(this);
+}
+
+
+/**
+ * The .. signal is emitted
+ */
+void QGCUASParamManager::requestParameterListUpdate(int component)
+{
+
+}
+
+
--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
+#ifndef QGCUASPARAMMANAGER_H
+#define QGCUASPARAMMANAGER_H
+
+#include <QWidget>
+#include <QMap>
+#include <QTimer>
+
+class UASInterface;
+
+class QGCUASParamManager : public QWidget
+{
+    Q_OBJECT
+public:
+    QGCUASParamManager(UASInterface* uas, QWidget *parent = 0);
+
+    QList<QString> getParameterNames(int component) const { return parameters.value(component)->keys(); }
+    QList<float> getParameterValues(int component) const { return parameters.value(component)->values(); }
+    float getParameterValue(int component, const QString& parameter) const { return parameters.value(component)->value(parameter); }
+
+    /** @brief Request an update for the parameter list */
+    void requestParameterListUpdate(int component = 0);
+    /** @brief Request an update for this specific parameter */
+    virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
+
+signals:
+    void parameterChanged(int component, QString parameter, float value);
+    void parameterChanged(int component, int parameterIndex, float value);
+    void parameterListUpToDate(int component);
+
+public slots:
+    /** @brief Write one parameter to the MAV */
+    virtual void setParameter(int component, QString parameterName, float value) = 0;
+    /** @brief Request list of parameters from MAV */
+    virtual void requestParameterList() = 0;
+
+protected:
+    UASInterface* mav;   ///< The MAV this widget is controlling
+    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
+    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QVector<bool> received; ///< Successfully received parameters
+    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
+    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    bool transmissionListMode;       ///< Currently requesting list
+    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
+    bool transmissionActive;         ///< Missing packets, working on list?
+    quint64 transmissionTimeout;     ///< Timeout
+    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
+    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
+    int rewriteTimeout; ///< Write request timeout, in milliseconds
+    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
+
+};
+
+#endif // QGCUASPARAMMANAGER_H
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -29,7 +29,7 @@

 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 uasId(id),
-startTime(MG::TIME::getGroundTimeNow()),
+startTime(QGC::groundTimeMilliseconds()),
 commStatus(COMM_DISCONNECTED),
 name(""),
 autopilot(-1),
@@ -73,7 +73,8 @@ yaw(0.0),
 statusTimeout(new QTimer(this)),
 paramsOnceRequested(false),
 airframe(0),
-attitudeKnown(false)
+attitudeKnown(false),
+paramManager(NULL)
 {
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
@@ -1076,7 +1077,6 @@ void UAS::setHomePosition(double lat, double lon, double alt)

 void UAS::setLocalOriginAtCurrentGPSPosition()
 {
-
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
@@ -1787,6 +1787,38 @@ void UAS::setUASName(const QString& name)
    emit systemSpecsChanged(uasId);
 }

+void UAS::executeCommand(MAV_CMD command)
+{
+    mavlink_message_t msg;
+    mavlink_command_t cmd;
+    cmd.command = (uint8_t)command;
+    cmd.confirmation = 0;
+    cmd.param1 = 0.0f;
+    cmd.param2 = 0.0f;
+    cmd.param3 = 0.0f;
+    cmd.param4 = 0.0f;
+    cmd.target_system = uasId;
+    cmd.target_component = 0;
+    mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    sendMessage(msg);
+}
+
+void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component)
+{
+    mavlink_message_t msg;
+    mavlink_command_t cmd;
+    cmd.command = (uint8_t)command;
+    cmd.confirmation = confirmation;
+    cmd.param1 = param1;
+    cmd.param2 = param2;
+    cmd.param3 = param3;
+    cmd.param4 = param4;
+    cmd.target_system = uasId;
+    cmd.target_component = component;
+    mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
+    sendMessage(msg);
+}
+
 /**
 * Sets an action
 *

--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -176,6 +176,7 @@ protected: //COMMENTS FOR TEST UNIT
    bool paramsOnceRequested;   ///< If the parameter list has been read at least once
    int airframe;               ///< The airframe type
    bool attitudeKnown;         ///< True if attitude was received, false else
+    QGCUASParamManager* paramManager; ///< Parameter manager class

 public:
    /** @brief Set the current battery type */
@@ -192,6 +193,11 @@ public:
    bool isAuto();

    UASWaypointManager* getWaypointManager() { return &waypointManager; }
+    /** @brief Get reference to the param manager **/
+    QGCUASParamManager* getParamManager() const { return paramManager; }
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    void setParamManager(QGCUASParamManager* manager) { paramManager = manager; }
    int getSystemType();
    QImage getImage();
    void requestImage(); // ?
@@ -208,6 +214,10 @@ public slots:
    void setUASName(const QString& name);
    /** @brief Executes an action **/
    void setAction(MAV_ACTION action);
+    /** @brief Executes a command **/
+    void executeCommand(MAV_CMD command);
+    /** @brief Executes a command **/
+    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component);
    /** @brief Set the current battery type and voltages */
    void setBatterySpecs(const QString& specs);
    /** @brief Get the current battery type and specs */

--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkInterface.h"
 #include "ProtocolInterface.h"
 #include "UASWaypointManager.h"
+#include "QGCUASParamManager.h"
 #include "RadioCalibration/RadioCalibrationData.h"

 /**
@@ -85,6 +86,11 @@ public:

    /** @brief Get reference to the waypoint manager **/
    virtual UASWaypointManager* getWaypointManager(void) = 0;
+    /** @brief Get reference to the param manager **/
+    virtual QGCUASParamManager* getParamManager() const = 0;
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    virtual void setParamManager(QGCUASParamManager* manager) = 0;

    /* COMMUNICATION FLAGS */

@@ -183,6 +189,10 @@ public slots:
    virtual void setUASName(const QString& name) = 0;
    /** @brief Sets an action **/
    virtual void setAction(MAV_ACTION action) = 0;
+    /** @brief Execute command immediately **/
+    virtual void executeCommand(MAV_CMD command) = 0;
+    /** @brief Executes a command **/
+    virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component) = 0;

    /** @brief Selects the airframe */
    virtual void setAirframe(int airframe) = 0;

--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -307,9 +307,11 @@ void MainWindow::buildCustomWidget()
            if (!dock)
            {
                QDockWidget* dock = new QDockWidget(widgets.at(i)->windowTitle(), this);
+                dock->setObjectName(widgets.at(i)->objectName()+"_DOCK");
                dock->setWidget(widgets.at(i));
                connect(widgets.at(i), SIGNAL(destroyed()), dock, SLOT(deleteLater()));
                QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
+                showAction->setCheckable(true);
                connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
                connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
                widgets.at(i)->setMainMenuAction(showAction);
@@ -1044,6 +1046,7 @@ void MainWindow::createCustomWidget()
    dock->setWidget(tool);

    QAction* showAction = new QAction("Show Unnamed Tool", this);
+    showAction->setCheckable(true);
    connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
    connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
    tool->setMainMenuAction(showAction);

--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -43,18 +43,8 @@ This file is part of the QGROUNDCONTROL project
 * @param parent Parent widget
 */
 QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
-        QWidget(parent),
-        mav(uas),
-        components(new QMap<int, QTreeWidgetItem*>()),
-        paramGroups(),
-        changedValues(),
-        parameters(),
-        transmissionListMode(false),
-        transmissionActive(false),
-        transmissionTimeout(0),
-        retransmissionTimeout(350),
-        rewriteTimeout(500),
-        retransmissionBurstRequestSize(2)
+        QGCUASParamManager(uas, parent),
+        components(new QMap<int, QTreeWidgetItem*>())
 {
    // Load settings
    loadSettings();
@@ -756,6 +746,15 @@ void QGCParamWidget::retransmissionGuardTick()
 }


+/**
+ * The .. signal is emitted
+ */
+void QGCParamWidget::requestParameterUpdate(int component, const QString& parameter)
+{
+
+}
+
+
 /**
 * @param component the subsystem which has the parameter
 * @param parameterName name of the parameter, as delivered by the system

--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -37,16 +37,17 @@ This file is part of the QGROUNDCONTROL project
 #include <QLabel>
 #include <QTimer>

+#include "QGCUASParamManager.h"
 #include "UASInterface.h"

 /**
 * @brief Widget to read/set onboard parameters
 */
-class QGCParamWidget : public QWidget
+class QGCParamWidget : public QGCUASParamManager
 {
 Q_OBJECT
 public:
-    explicit QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
+    QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
    /** @brief Get the UAS of this widget */
    UASInterface* getUAS();
 signals:
@@ -63,6 +64,8 @@ public slots:
    void addParameter(int uas, int component, QString parameterName, float value);
    /** @brief Request list of parameters from MAV */
    void requestParameterList();
+    /** @brief Request one single parameter */
+    void requestParameterUpdate(int component, const QString& parameter);
    /** @brief Set one parameter, changes value in RAM of MAV */
    void setParameter(int component, QString parameterName, float value);
    /** @brief Set all parameters, changes the value in RAM of MAV */
@@ -85,24 +88,10 @@ public slots:
    void retransmissionGuardTick();

 protected:
-    UASInterface* mav;   ///< The MAV this widget is controlling
    QTreeWidget* tree;   ///< The parameter tree
    QLabel* statusLabel; ///< Parameter transmission label
    QMap<int, QTreeWidgetItem*>* components; ///< The list of components
    QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
-    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
-    QVector<bool> received; ///< Successfully received parameters
-    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
-    bool transmissionListMode;       ///< Currently requesting list
-    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
-    bool transmissionActive;         ///< Missing packets, working on list?
-    quint64 transmissionTimeout;     ///< Timeout
-    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
-    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
-    int rewriteTimeout; ///< Write request timeout, in milliseconds
-    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst

    /** @brief Activate / deactivate parameter retransmission */
    void setRetransmissionGuardEnabled(bool enabled);

--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -36,19 +36,18 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
    customCommand->setupUi(m_ui->customActionWidget);

    // add actions
-    m_ui->comboBox_action->addItem(tr("Navigate"),MAV_CMD_NAV_WAYPOINT);
-    m_ui->comboBox_action->addItem(tr("TakeOff"),MAV_CMD_NAV_TAKEOFF);
-    m_ui->comboBox_action->addItem(tr("Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
-    m_ui->comboBox_action->addItem(tr("Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
-    m_ui->comboBox_action->addItem(tr("Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
-    m_ui->comboBox_action->addItem(tr("Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
-    m_ui->comboBox_action->addItem(tr("Land"),MAV_CMD_NAV_LAND);
+    m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
+    m_ui->comboBox_action->addItem(tr("NAV: TakeOff"),MAV_CMD_NAV_TAKEOFF);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
+    m_ui->comboBox_action->addItem(tr("NAV: Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
+    m_ui->comboBox_action->addItem(tr("NAV: Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
+    m_ui->comboBox_action->addItem(tr("NAV: Land"),MAV_CMD_NAV_LAND);
+//    m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
+    //m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
+    //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
+    //m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
    m_ui->comboBox_action->addItem(tr("Other"), MAV_CMD_ENUM_END);
-    //    m_ui->comboBox_action->addItem(tr("Delay"), MAV_ACTION_DELAY_BEFORE_COMMAND);
-    //    m_ui->comboBox_action->addItem(tr("Ascend/Descent"), MAV_ACTION_ASCEND_AT_RATE);
-    //    m_ui->comboBox_action->addItem(tr("Change Mode"), MAV_ACTION_CHANGE_MODE);
-    //    m_ui->comboBox_action->addItem(tr("Relay ON"), MAV_ACTION_RELAY_ON);
-    //    m_ui->comboBox_action->addItem(tr("Relay OFF"), MAV_ACTION_RELAY_OFF);

    // add frames 
    m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
@@ -205,6 +204,17 @@ void WaypointView::updateActionView(int action)
        m_ui->orbitSpinBox->show();
        m_ui->holdTimeSpinBox->show();
        break;
+    case MAV_CMD_NAV_ORIENTATION_TARGET:
+        m_ui->orbitSpinBox->hide();
+        m_ui->takeOffAngleSpinBox->hide();
+        m_ui->turnsSpinBox->hide();
+        m_ui->holdTimeSpinBox->show();
+        m_ui->customActionWidget->hide();
+
+        m_ui->autoContinue->show();
+        m_ui->acceptanceSpinBox->hide();
+        m_ui->yawSpinBox->hide();
+        break;
    default:
        break;
    }
@@ -252,6 +262,7 @@ void WaypointView::changedAction(int index)

 void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
 {
+    viewMode = mode;
    switch (mode)
    {
    case QGC_WAYPOINTVIEW_MODE_NAV:
@@ -276,6 +287,9 @@ void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
        m_ui->lonSpinBox->hide();
        m_ui->altSpinBox->hide();

+        int action_index = m_ui->comboBox_action->findData(MAV_CMD_ENUM_END);
+        m_ui->comboBox_action->setCurrentIndex(action_index);
+
        // Show action widget
        if (!m_ui->customActionWidget->isVisible())
        {
@@ -287,6 +301,7 @@ void WaypointView::changeViewMode(QGC_WAYPOINTVIEW_MODE mode)
        }
        break;
    }
+
 }

 void WaypointView::updateFrameView(int frame)
@@ -429,9 +444,12 @@ void WaypointView::updateValues()
        }
        else
        {
-            // Action ID known, update
-            m_ui->comboBox_action->setCurrentIndex(action_index);
-            updateActionView(action);
+            if (viewMode != QGC_WAYPOINTVIEW_MODE_DIRECT_EDITING)
+            {
+                // Action ID known, update
+                m_ui->comboBox_action->setCurrentIndex(action_index);
+                updateActionView(action);
+            }
        }
    }
    switch(action)
@@ -450,7 +468,9 @@ void WaypointView::updateValues()

    if (m_ui->yawSpinBox->value() != wp->getYaw())
    {
+        if (!m_ui->yawSpinBox->isVisible()) m_ui->yawSpinBox->blockSignals(true);
        m_ui->yawSpinBox->setValue(wp->getYaw());
+        if (!m_ui->yawSpinBox->isVisible()) m_ui->yawSpinBox->blockSignals(false);
    }
    if (m_ui->selectedBox->isChecked() != wp->getCurrent())
    {
@@ -463,23 +483,33 @@ void WaypointView::updateValues()
    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
    if (m_ui->orbitSpinBox->value() != wp->getLoiterOrbit())
    {
+        if (!m_ui->orbitSpinBox->isVisible()) m_ui->orbitSpinBox->blockSignals(true);
        m_ui->orbitSpinBox->setValue(wp->getLoiterOrbit());
+        if (!m_ui->orbitSpinBox->isVisible()) m_ui->orbitSpinBox->blockSignals(false);
    }
    if (m_ui->acceptanceSpinBox->value() != wp->getAcceptanceRadius())
    {
+        if (!m_ui->acceptanceSpinBox->isVisible()) m_ui->acceptanceSpinBox->blockSignals(true);
        m_ui->acceptanceSpinBox->setValue(wp->getAcceptanceRadius());
+        if (!m_ui->acceptanceSpinBox->isVisible()) m_ui->acceptanceSpinBox->blockSignals(false);
    }
    if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime())
    {
+        if (!m_ui->holdTimeSpinBox->isVisible()) m_ui->holdTimeSpinBox->blockSignals(true);
        m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+        if (!m_ui->holdTimeSpinBox->isVisible()) m_ui->holdTimeSpinBox->blockSignals(false);
    }
    if (m_ui->turnsSpinBox->value() != wp->getTurns())
    {
+        if (!m_ui->turnsSpinBox->isVisible()) m_ui->turnsSpinBox->blockSignals(true);
        m_ui->turnsSpinBox->setValue(wp->getTurns());
+        if (!m_ui->turnsSpinBox->isVisible()) m_ui->turnsSpinBox->blockSignals(false);
    }
    if (m_ui->takeOffAngleSpinBox->value() != wp->getParam1())
    {
+        if (!m_ui->takeOffAngleSpinBox->isVisible()) m_ui->takeOffAngleSpinBox->blockSignals(true);
        m_ui->takeOffAngleSpinBox->setValue(wp->getParam1());
+        if (!m_ui->takeOffAngleSpinBox->isVisible()) m_ui->takeOffAngleSpinBox->blockSignals(false);
    }

    // UPDATE CUSTOM ACTION WIDGET

--- a/src/ui/designer/QGCActionButton.ui
+++ b/src/ui/designer/QGCActionButton.ui
@@ -13,12 +13,33 @@
  <property name="windowTitle">
   <string>Form</string>
  </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,100,50">
+   <property name="leftMargin">
+    <number>6</number>
+   </property>
+   <property name="topMargin">
+    <number>3</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>3</number>
+   </property>
   <item row="1" column="0" colspan="2">
    <widget class="QLabel" name="nameLabel">
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>0</height>
+      </size>
+     </property>
     <property name="text">
      <string>Description</string>
     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
    </widget>
   </item>
   <item row="2" column="0">
@@ -54,6 +75,12 @@
   </item>
   <item row="1" column="2">
    <widget class="QPushButton" name="actionButton">
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>0</height>
+      </size>
+     </property>
     <property name="text">
      <string>Button name</string>
     </property>

--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
+#include "QGCCommandButton.h"
+#include "ui_QGCCommandButton.h"
+
+#include "MAVLinkProtocol.h"
+#include "UASManager.h"
+
+QGCCommandButton::QGCCommandButton(QWidget *parent) :
+    QGCToolWidgetItem("Command Button", parent),
+    ui(new Ui::QGCCommandButton),
+    uas(NULL)
+{
+    ui->setupUi(this);
+
+    connect(ui->commandButton, SIGNAL(clicked()), this, SLOT(sendCommand()));
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setCommandButtonName(QString)));
+    connect(ui->editCommandComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+
+    // Hide all edit items
+    ui->editCommandComboBox->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+    ui->editConfirmationCheckBox->hide();
+    ui->editComponentSpinBox->hide();
+    ui->editParamsVisibleCheckBox->hide();
+    ui->editParam1SpinBox->hide();
+    ui->editParam2SpinBox->hide();
+    ui->editParam3SpinBox->hide();
+    ui->editParam4SpinBox->hide();
+    ui->editLine1->hide();
+    ui->editLine2->hide();
+
+    ui->editLine1->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
+    ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
+
+    // Add commands to combo box
+    ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
+    ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
+}
+
+QGCCommandButton::~QGCCommandButton()
+{
+    delete ui;
+}
+
+void QGCCommandButton::sendCommand()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        // FIXME
+        int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt();
+        MAV_CMD command = static_cast<MAV_CMD>(index);
+        int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
+        float param1 = ui->editParam1SpinBox->value();
+        float param2 = ui->editParam2SpinBox->value();
+        float param3 = ui->editParam3SpinBox->value();
+        float param4 = ui->editParam4SpinBox->value();
+        int component = ui->editComponentSpinBox->value();
+
+        QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, component);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
+void QGCCommandButton::setCommandButtonName(QString text)
+{
+    ui->commandButton->setText(text);
+}
+
+void QGCCommandButton::startEditMode()
+{
+    // Hide elements
+    ui->commandButton->hide();
+    ui->nameLabel->hide();
+
+    ui->editCommandComboBox->show();
+    ui->editFinishButton->show();
+    ui->editNameLabel->show();
+    ui->editButtonName->show();
+    ui->editConfirmationCheckBox->show();
+    ui->editComponentSpinBox->show();
+    ui->editParamsVisibleCheckBox->show();
+    ui->editParam1SpinBox->show();
+    ui->editParam2SpinBox->show();
+    ui->editParam3SpinBox->show();
+    ui->editParam4SpinBox->show();
+    ui->editLine1->show();
+    ui->editLine2->show();
+    //setStyleSheet("QGroupBox { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
+    isInEditMode = true;
+}
+
+void QGCCommandButton::endEditMode()
+{
+    ui->editCommandComboBox->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+    ui->editConfirmationCheckBox->hide();
+    ui->editComponentSpinBox->hide();
+    ui->editParamsVisibleCheckBox->hide();
+    ui->editLine1->hide();
+    ui->editLine2->hide();
+    if (!ui->editParamsVisibleCheckBox->isChecked())
+    {
+        ui->editParam1SpinBox->hide();
+        ui->editParam2SpinBox->hide();
+        ui->editParam3SpinBox->hide();
+        ui->editParam4SpinBox->hide();
+    }
+
+    ui->commandButton->show();
+    ui->nameLabel->show();
+
+    // Write to settings
+    emit editingFinished();
+    //setStyleSheet("");
+    isInEditMode = false;
+}
+
+void QGCCommandButton::writeSettings(QSettings& settings)
+{
+    settings.setValue("TYPE", "COMMANDBUTTON");
+    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
+    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->commandButton->text());
+    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->currentIndex());
+    settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked());
+    settings.sync();
+}
+
+void QGCCommandButton::readSettings(const QSettings& settings)
+{
+    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+
+    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->commandButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+    ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool());
+    if (ui->editParamsVisibleCheckBox->isChecked())
+    {
+        ui->editParam1SpinBox->show();
+        ui->editParam2SpinBox->show();
+        ui->editParam3SpinBox->show();
+        ui->editParam4SpinBox->show();
+    }
+    else
+    {
+        ui->editParam1SpinBox->hide();
+        ui->editParam2SpinBox->hide();
+        ui->editParam3SpinBox->hide();
+        ui->editParam4SpinBox->hide();
+    }
+    qDebug() << "DONE READING SETTINGS";
+}
--- a/src/ui/designer/QGCCommandButton.h
+++ b/src/ui/designer/QGCCommandButton.h
+#ifndef QGCCOMMANDBUTTON_H
+#define QGCCOMMANDBUTTON_H
+
+#include "QGCToolWidgetItem.h"
+
+namespace Ui {
+    class QGCCommandButton;
+}
+
+class UASInterface;
+
+class QGCCommandButton : public QGCToolWidgetItem
+{
+    Q_OBJECT
+
+public:
+    explicit QGCCommandButton(QWidget *parent = 0);
+    ~QGCCommandButton();
+
+public slots:
+    void sendCommand();
+    void setCommandButtonName(QString text);
+    void startEditMode();
+    void endEditMode();
+    void writeSettings(QSettings& settings);
+    void readSettings(const QSettings& settings);
+
+private:
+    Ui::QGCCommandButton *ui;
+    UASInterface* uas;
+};
+
+#endif // QGCCOMMANDBUTTON_H
--- a/src/ui/designer/QGCCommandButton.ui
+++ b/src/ui/designer/QGCCommandButton.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCCommandButton</class>
+ <widget class="QWidget" name="QGCCommandButton">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>882</width>
+    <height>430</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0">
+   <property name="leftMargin">
+    <number>6</number>
+   </property>
+   <property name="topMargin">
+    <number>3</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>3</number>
+   </property>
+   <item row="7" column="0" colspan="3">
+    <widget class="QComboBox" name="editCommandComboBox"/>
+   </item>
+   <item row="7" column="3">
+    <widget class="QPushButton" name="editFinishButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="3">
+    <widget class="QLineEdit" name="editButtonName">
+     <property name="text">
+      <string>&lt;Button Label&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="3">
+    <widget class="QLineEdit" name="editNameLabel">
+     <property name="text">
+      <string>&lt;Button Description Label (in front of button)&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="3">
+    <widget class="QPushButton" name="commandButton">
+     <property name="minimumSize">
+      <size>
+       <width>60</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Unnamed</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0">
+    <widget class="QSpinBox" name="editComponentSpinBox">
+     <property name="prefix">
+      <string>Component ID: </string>
+     </property>
+     <property name="minimum">
+      <number>0</number>
+     </property>
+     <property name="maximum">
+      <number>255</number>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="2" colspan="2">
+    <widget class="QCheckBox" name="editConfirmationCheckBox">
+     <property name="toolTip">
+      <string>Set the confirm flag for this button. Some commands require that first one command is sent without confirm flag and then a second, equal command with confirm flag. This ensures safety.</string>
+     </property>
+     <property name="text">
+      <string>Set CONFIRM flag</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="4">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QDoubleSpinBox" name="editParam1SpinBox">
+       <property name="toolTip">
+        <string>PARAM1 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="statusTip">
+        <string>PARAM1 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="prefix">
+        <string>P1 </string>
+       </property>
+       <property name="minimum">
+        <double>-2147483647.000000000000000</double>
+       </property>
+       <property name="maximum">
+        <double>2147483647.000000000000000</double>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QDoubleSpinBox" name="editParam2SpinBox">
+       <property name="toolTip">
+        <string>PARAM2 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="statusTip">
+        <string>PARAM2 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="prefix">
+        <string>P2: </string>
+       </property>
+       <property name="minimum">
+        <double>-2147483647.000000000000000</double>
+       </property>
+       <property name="value">
+        <double>0.000000000000000</double>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QDoubleSpinBox" name="editParam3SpinBox">
+       <property name="toolTip">
+        <string>PARAM3 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="statusTip">
+        <string>PARAM3 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="prefix">
+        <string>P3: </string>
+       </property>
+       <property name="minimum">
+        <double>-2147483647.000000000000000</double>
+       </property>
+       <property name="maximum">
+        <double>2147483647.000000000000000</double>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QDoubleSpinBox" name="editParam4SpinBox">
+       <property name="toolTip">
+        <string>PARAM4 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="statusTip">
+        <string>PARAM4 Value as defined in MAV_CMD list</string>
+       </property>
+       <property name="prefix">
+        <string>P4: </string>
+       </property>
+       <property name="minimum">
+        <double>-2147483647.000000000000000</double>
+       </property>
+       <property name="maximum">
+        <double>2147483647.000000000000000</double>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="0" colspan="3">
+    <widget class="QLabel" name="nameLabel">
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Description</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="1">
+    <widget class="QCheckBox" name="editParamsVisibleCheckBox">
+     <property name="text">
+      <string>Keep parameters visible</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="4">
+    <widget class="Line" name="editLine1">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="0" colspan="4">
+    <widget class="Line" name="editLine2">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>editNameLabel</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>nameLabel</receiver>
+   <slot>setText(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>114</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>114</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -27,9 +27,18 @@ public slots:
    /** @brief Set the slider value as parameter value */
    void setSliderValue(int sliderValue);
    /** @brief Update the UI with the new parameter value */
-    void setParameterValue(int uas, int component, QString parameterName, float value);
+    void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value);
    void writeSettings(QSettings& settings);
    void readSettings(const QSettings& settings);
+    void refreshParamList();
+    void setActiveUAS(UASInterface *uas);
+    void selectComponent(int componentIndex);
+    void selectParameter(int paramIndex);
+    void setParamValue(double value);
+
+protected slots:
+    /** @brief Request the parameter of this widget from the MAV */
+    void requestParameter();

 protected:
    QString parameterName;         ///< Key/Name of the parameter
@@ -38,6 +47,7 @@ protected:
    float parameterMin;
    float parameterMax;
    int component;                 ///< ID of the MAV component to address
+    int parameterIndex;
    double scaledInt;
    void changeEvent(QEvent *e);


--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -6,103 +6,244 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>499</width>
-    <height>173</height>
+    <width>789</width>
+    <height>155</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="1" column="0">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="100,0,0,0,0,0,0,0,0">
+   <property name="leftMargin">
+    <number>6</number>
+   </property>
+   <property name="topMargin">
+    <number>3</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>3</number>
+   </property>
+   <property name="horizontalSpacing">
+    <number>6</number>
+   </property>
+   <property name="verticalSpacing">
+    <number>12</number>
+   </property>
+   <item row="1" column="1" colspan="5">
    <widget class="QLineEdit" name="editNameLabel">
     <property name="text">
-      <string>Informal Name..</string>
+      <string>&lt;Parameter Name / Label&gt;</string>
     </property>
    </widget>
   </item>
-   <item row="1" column="4">
-    <widget class="QLabel" name="editMinLabel">
+   <item row="2" column="1">
+    <widget class="QLabel" name="nameLabel">
+     <property name="minimumSize">
+      <size>
+       <width>60</width>
+       <height>0</height>
+      </size>
+     </property>
     <property name="text">
-      <string>Min</string>
+      <string>Name</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
     </property>
    </widget>
   </item>
-   <item row="1" column="6">
-    <widget class="QLabel" name="editMaxLabel">
-     <property name="text">
-      <string>Max</string>
+   <item row="2" column="5" colspan="2">
+    <widget class="QSlider" name="valueSlider">
+     <property name="minimumSize">
+      <size>
+       <width>60</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>250</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="maximum">
+      <number>1000000</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
     </property>
    </widget>
   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="nameLabel">
+   <item row="5" column="1" colspan="6">
+    <widget class="QLabel" name="editStatusLabel">
     <property name="text">
-      <string>Name</string>
+      <string>Please click first on refresh to update selection menus..</string>
     </property>
    </widget>
   </item>
-   <item row="2" column="1">
-    <widget class="QLabel" name="valueLabel">
-     <property name="text">
-      <string>0.00</string>
+   <item row="3" column="1" colspan="3">
+    <widget class="QComboBox" name="editSelectComponentComboBox">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="toolTip">
+      <string>Select component</string>
+     </property>
+     <property name="statusTip">
+      <string>Select component</string>
     </property>
    </widget>
   </item>
-   <item row="2" column="3" colspan="2">
-    <widget class="QDoubleSpinBox" name="editMinSpinBox"/>
-   </item>
-   <item row="2" column="5">
-    <widget class="QSlider" name="valueSlider">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+   <item row="3" column="4" colspan="3">
+    <widget class="QComboBox" name="editSelectParamComboBox">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="toolTip">
+      <string>Select parameter</string>
+     </property>
+     <property name="statusTip">
+      <string>Select parameter</string>
     </property>
    </widget>
   </item>
-   <item row="2" column="6">
-    <widget class="QDoubleSpinBox" name="editMaxSpinBox"/>
-   </item>
-   <item row="0" column="0" colspan="7">
-    <widget class="QLabel" name="editInstructionsLabel">
+   <item row="2" column="8">
+    <widget class="QPushButton" name="readButton">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="toolTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Read the current parameter value on the system</string>
+     </property>
     <property name="text">
-      <string>Please configure the parameter slider now:</string>
+      <string>R</string>
     </property>
    </widget>
   </item>
-   <item row="5" column="0" colspan="6">
-    <widget class="QLabel" name="editStatusLabel">
+   <item row="3" column="8">
+    <widget class="QPushButton" name="editRefreshParamsButton">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
     <property name="text">
-      <string>TextLabel</string>
+      <string>Refresh</string>
     </property>
    </widget>
   </item>
-   <item row="3" column="0" colspan="3">
-    <widget class="QComboBox" name="editSelectComponentComboBox"/>
-   </item>
-   <item row="5" column="6">
+   <item row="5" column="8">
    <widget class="QPushButton" name="editDoneButton">
     <property name="text">
      <string>Done</string>
     </property>
    </widget>
   </item>
-   <item row="3" column="6">
-    <widget class="QPushButton" name="editRefreshParamsButton">
-     <property name="enabled">
-      <bool>true</bool>
+   <item row="2" column="2">
+    <widget class="QDoubleSpinBox" name="valueSpinBox">
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="7">
+    <widget class="QPushButton" name="writeButton">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="toolTip">
+      <string>Transmit the current slider value to the system</string>
+     </property>
+     <property name="statusTip">
+      <string>Transmit the current slider value to the system</string>
     </property>
     <property name="text">
-      <string>Refresh</string>
+      <string>W</string>
     </property>
    </widget>
   </item>
-   <item row="3" column="4" colspan="2">
-    <widget class="QComboBox" name="editSelectParamComboBox">
-     <item>
-      <property name="text">
-       <string>Select Parameter..</string>
-      </property>
-     </item>
+   <item row="0" column="0" colspan="9">
+    <widget class="Line" name="editLine1">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0" colspan="9">
+    <widget class="Line" name="editLine2">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QDoubleSpinBox" name="editMinSpinBox">
+     <property name="prefix">
+      <string>MIN: </string>
+     </property>
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="7" colspan="2">
+    <widget class="QDoubleSpinBox" name="editMaxSpinBox">
+     <property name="prefix">
+      <string>MAX: </string>
+     </property>
+     <property name="minimum">
+      <double>-999999999.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>999999999.000000000000000</double>
+     </property>
    </widget>
   </item>
  </layout>

--- a/src/ui/designer/QGCParamSliderPlugin.h
+++ b/src/ui/designer/QGCParamSliderPlugin.h
-#ifndef QGCPARAMSLIDERPLUGIN_H
-#define QGCPARAMSLIDERPLUGIN_H
-
-#include <QtDesigner/QDesignerCustomWidgetInterface>
-
-class QGCParamSliderPlugin : public QObject,
-                             public QDesignerCustomWidgetInterface
-{
-    Q_OBJECT
-    Q_INTERFACES(QDesignerCustomWidgetInterface)
-
-public:
-    explicit QGCParamSliderPlugin(QObject *parent = 0);
-
-    bool isContainer() const;
-    bool isInitialized() const;
-    QIcon icon() const;
-    QString domXml() const;
-    QString group() const;
-    QString includeFile() const;
-    QString name() const;
-    QString toolTip() const;
-    QString whatsThis() const;
-    QWidget *createWidget(QWidget *parent);
-    void initialize(QDesignerFormEditorInterface *core);
-
-private:
-    bool initialized;
-};
-
-#endif // QGCPARAMSLIDERPLUGIN_H
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -10,6 +10,7 @@

 #include "QGCParamSlider.h"
 #include "QGCActionButton.h"
+#include "QGCCommandButton.h"
 #include "UASManager.h"

 QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
@@ -23,6 +24,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
    createActions();
    toolLayout = ui->toolLayout;
    toolLayout->setAlignment(Qt::AlignTop);
+    toolLayout->setSpacing(8);

    QDockWidget* dock = dynamic_cast<QDockWidget*>(this->parentWidget());
    if (dock)
@@ -105,6 +107,16 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent)
                    item = new QGCActionButton(newWidgets.at(i));
                    qDebug() << "CREATED BUTTON";
                }
+                else if (type == "COMMANDBUTTON")
+                {
+                    item = new QGCCommandButton(newWidgets.at(i));
+                    qDebug() << "CREATED COMMANDBUTTON";
+                }
+                else if (type == "SLIDER")
+                {
+                    item = new QGCParamSlider(newWidgets.at(i));
+                    qDebug() << "CREATED PARAM SLIDER";
+                }

                if (item)
                {
@@ -175,10 +187,12 @@ void QGCToolWidget::addUAS(UASInterface* uas)
 void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
 {
    QMenu menu(this);
-    //menu.addAction(addParamAction);
-    menu.addAction(addButtonAction);
+    menu.addAction(addParamAction);
+    menu.addAction(addCommandAction);
    menu.addAction(setTitleAction);
    menu.addAction(deleteAction);
+    menu.addSeparator();
+    menu.addAction(addButtonAction);
    menu.exec(event->globalPos());
 }

@@ -188,9 +202,9 @@ void QGCToolWidget::createActions()
    addParamAction->setStatusTip(tr("Add a parameter setting slider widget to the tool"));
    connect(addParamAction, SIGNAL(triggered()), this, SLOT(addParam()));

-    addButtonAction = new QAction(tr("New MAV &Action Button"), this);
-    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
-    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
+    addCommandAction = new QAction(tr("New MAV &Command Button"), this);
+    addCommandAction->setStatusTip(tr("Add a new action button to the tool"));
+    connect(addCommandAction, SIGNAL(triggered()), this, SLOT(addCommand()));

    setTitleAction = new QAction(tr("Set Widget Title"), this);
    setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
@@ -199,6 +213,18 @@ void QGCToolWidget::createActions()
    deleteAction = new QAction(tr("Delete this widget"), this);
    deleteAction->setStatusTip(tr("Delete this widget permanently"));
    connect(deleteAction, SIGNAL(triggered()), this, SLOT(deleteWidget()));
+
+    exportAction = new QAction(tr("Export this widget"), this);
+    exportAction->setStatusTip(tr("Export this widget to be reused by others"));
+    connect(exportAction, SIGNAL(triggered()), this, SLOT(exportWidget()));
+
+    importAction = new QAction(tr("Import widget"), this);
+    importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)"));
+    connect(exportAction, SIGNAL(triggered()), this, SLOT(importWidget()));
+
+    addButtonAction = new QAction(tr("New MAV Action Button (Deprecated)"), this);
+    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
+    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
 }

 QMap<QString, QGCToolWidget*>* QGCToolWidget::instances()
@@ -239,6 +265,18 @@ void QGCToolWidget::addAction()
    button->startEditMode();
 }

+void QGCToolWidget::addCommand()
+{
+    QGCCommandButton* button = new QGCCommandButton(this);
+    if (ui->hintLabel)
+    {
+        ui->hintLabel->deleteLater();
+        ui->hintLabel = NULL;
+    }
+    toolLayout->addWidget(button);
+    button->startEditMode();
+}
+
 void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
 {
    if (ui->hintLabel)
@@ -249,6 +287,16 @@ void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
    toolLayout->addWidget(widget);
 }

+void QGCToolWidget::exportWidget()
+{
+
+}
+
+void QGCToolWidget::importWidget(const QString& fileName)
+{
+
+}
+
 const QString QGCToolWidget::getTitle()
 {
    QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());

--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -32,6 +32,10 @@ public slots:
    void addUAS(UASInterface* uas);
    /** @brief Delete this widget */
    void deleteWidget();
+    /** @brief Export this widget to a file */
+    void exportWidget();
+    /** @brief Import settings for this widget from a file */
+    void importWidget(const QString& fileName);
    /** @brief Store all widgets of this type to QSettings */
    static void storeWidgetsToSettings();

@@ -41,8 +45,11 @@ signals:
 protected:
    QAction* addParamAction;
    QAction* addButtonAction;
+    QAction* addCommandAction;
    QAction* setTitleAction;
    QAction* deleteAction;
+    QAction* exportAction;
+    QAction* importAction;
    QVBoxLayout* toolLayout;
    UAS* mav;
    QAction* mainMenuAction;
@@ -56,7 +63,9 @@ protected:

 protected slots:
    void addParam();
+    /** @deprecated */
    void addAction();
+    void addCommand();
    void setTitle();



--- a/src/ui/designer/QGCToolWidget.ui
+++ b/src/ui/designer/QGCToolWidget.ui
@@ -14,6 +14,21 @@
   <string>Form</string>
  </property>
  <layout class="QVBoxLayout" name="toolLayout">
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <property name="leftMargin">
+    <number>6</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
   <item>
    <widget class="QLabel" name="hintLabel">
     <property name="text">

--- a/src/ui/designer/QGCToolWidgetItem.h
+++ b/src/ui/designer/QGCToolWidgetItem.h
@@ -22,7 +22,7 @@ public slots:
    virtual void setComponent(int comp) {_component = comp;}
    virtual void writeSettings(QSettings& settings) = 0;
    virtual void readSettings(const QSettings& settings) = 0;
-    void setActiveUAS(UASInterface *uas);
+    virtual void setActiveUAS(UASInterface *uas);

 signals:
    void editingFinished();

--- a/src/ui/mission/QGCCustomWaypointAction.ui
+++ b/src/ui/mission/QGCCustomWaypointAction.ui
@@ -6,14 +6,14 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>1105</width>
+    <width>1228</width>
    <height>25</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10,10,10,10,0,0">
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,0,10,10,10,10,0,0">
   <property name="spacing">
    <number>5</number>
   </property>

--- a/src/ui/mission/QGCMissionConditionWidget.cc
+++ b/src/ui/mission/QGCMissionConditionWidget.cc
+#include "QGCMissionConditionWidget.h"
+#include "ui_QGCMissionConditionWidget.h"
+
+QGCMissionConditionWidget::QGCMissionConditionWidget(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCMissionConditionWidget)
+{
+    ui->setupUi(this);
+}
+
+QGCMissionConditionWidget::~QGCMissionConditionWidget()
+{
+    delete ui;
+}
--- a/src/ui/mission/QGCMissionConditionWidget.h
+++ b/src/ui/mission/QGCMissionConditionWidget.h
+#ifndef QGCMISSIONCONDITIONWIDGET_H
+#define QGCMISSIONCONDITIONWIDGET_H
+
+#include <QWidget>
+
+namespace Ui {
+    class QGCMissionConditionWidget;
+}
+
+class QGCMissionConditionWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionConditionWidget(QWidget *parent = 0);
+    ~QGCMissionConditionWidget();
+
+private:
+    Ui::QGCMissionConditionWidget *ui;
+};
+
+#endif // QGCMISSIONCONDITIONWIDGET_H
--- a/src/ui/mission/QGCMissionConditionWidget.ui
+++ b/src/ui/mission/QGCMissionConditionWidget.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionConditionWidget</class>
+ <widget class="QWidget" name="QGCMissionConditionWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1260</width>
+    <height>31</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>4</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionDelayTimeSpinBox">
+     <property name="prefix">
+      <string>delay: </string>
+     </property>
+     <property name="suffix">
+      <string> s</string>
+     </property>
+     <property name="maximum">
+      <double>50000.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>5.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionChangeAltRateSpinBox">
+     <property name="prefix">
+      <string>rate: </string>
+     </property>
+     <property name="suffix">
+      <string> m/s</string>
+     </property>
+     <property name="maximum">
+      <double>200.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.500000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionChangeAltFinishAltitudeSpinBox">
+     <property name="prefix">
+      <string>finish altitude: </string>
+     </property>
+     <property name="suffix">
+      <string> m</string>
+     </property>
+     <property name="minimum">
+      <double>-100.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>1000000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionDistanceSpinBox">
+     <property name="prefix">
+      <string>distance to next wp: </string>
+     </property>
+     <property name="suffix">
+      <string> m/s</string>
+     </property>
+     <property name="maximum">
+      <double>50000.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionYawAngleSpinBox">
+     <property name="prefix">
+      <string>heading: </string>
+     </property>
+     <property name="suffix">
+      <string>°</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDoubleSpinBox" name="conditionYawRateSpinBox">
+     <property name="prefix">
+      <string>turn rate: </string>
+     </property>
+     <property name="suffix">
+      <string>°/s</string>
+     </property>
+     <property name="maximum">
+      <double>1000.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>15.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QComboBox" name="conditionYawDirectionComboBox">
+     <property name="currentIndex">
+      <number>1</number>
+     </property>
+     <item>
+      <property name="text">
+       <string>left/counter-clockwise</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>right/clockwise</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item>
+    <widget class="QComboBox" name="conditionYawOffsetComboBox">
+     <item>
+      <property name="text">
+       <string>compass direction</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>offset from current heading</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/mission/QGCMissionDoWidget.cc
+++ b/src/ui/mission/QGCMissionDoWidget.cc
+#include "QGCMissionDoWidget.h"
+#include "ui_QGCMissionDoWidget.h"
+
+QGCMissionDoWidget::QGCMissionDoWidget(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCMissionDoWidget)
+{
+    ui->setupUi(this);
+}
+
+QGCMissionDoWidget::~QGCMissionDoWidget()
+{
+    delete ui;
+}
--- a/src/ui/mission/QGCMissionDoWidget.h
+++ b/src/ui/mission/QGCMissionDoWidget.h
+#ifndef QGCMISSIONDOWIDGET_H
+#define QGCMISSIONDOWIDGET_H
+
+#include <QWidget>
+
+namespace Ui {
+    class QGCMissionDoWidget;
+}
+
+class QGCMissionDoWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCMissionDoWidget(QWidget *parent = 0);
+    ~QGCMissionDoWidget();
+
+private:
+    Ui::QGCMissionDoWidget *ui;
+};
+
+#endif // QGCMISSIONDOWIDGET_H
--- a/src/ui/mission/QGCMissionDoWidget.ui
+++ b/src/ui/mission/QGCMissionDoWidget.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCMissionDoWidget</class>
+ <widget class="QWidget" name="QGCMissionDoWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>632</width>
+    <height>40</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QSpinBox" name="doJumpIndexSpinBox">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>10</y>
+     <width>201</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="suffix">
+    <string/>
+   </property>
+   <property name="prefix">
+    <string>list index to jump to: </string>
+   </property>
+   <property name="maximum">
+    <number>5000</number>
+   </property>
+  </widget>
+  <widget class="QSpinBox" name="doJumpRepeatSpinBox">
+   <property name="geometry">
+    <rect>
+     <x>380</x>
+     <y>10</y>
+     <width>121</width>
+     <height>25</height>
+    </rect>
+   </property>
+   <property name="suffix">
+    <string> times</string>
+   </property>
+   <property name="prefix">
+    <string>repeat </string>
+   </property>
+   <property name="maximum">
+    <number>1000</number>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="doSetModeComboBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>111</width>
+     <height>26</height>
+    </rect>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/mavlink @ 49db9893
+++ b/mavlink @ 49db9893
+Subproject commit 49db98933d97766016c18b4dadd6e238eec6c8f7