添加了所有的设置界面，设置界面还存在不会隐藏的问题

opmap/mapwidget/propertyui.cpp

@@ -75,6 +75,16 @@ propertyui::propertyui(QWidget *parent) :
     _loadMavCmdInfoJson(":/json/MavCmdInfoCommon.json", true);
    //给combox添加items
 
+    ui->label_Descript->adjustSize();
+    ui->label_Descript->setWordWrap(true);
+    ui->label_Descript->setAlignment(Qt::AlignTop);
+
+    ui->label_Alt_description->adjustSize();
+    ui->label_Alt_description->setWordWrap(true);
+    ui->label_Alt_description->setAlignment(Qt::AlignTop);
+
+
+    ui->comboBox_Frame->addItems(FrameType::TypesList());
 
     for(QJsonValue info: MAV_CMD_infoArray) {
         if (!info.isObject()) {
@@ -84,14 +94,18 @@ propertyui::propertyui(QWidget *parent) :
        ui->comboBox_friendlyName->addItem(info.toObject().value(_friendlyNameJsonKey).toString(),info.toObject().value(_idJsonKey).toInt());
        ui->comboBox_MAV_CMD->addItem(info.toObject().value(_rawNameJsonKey).toString(),info.toObject().value(_idJsonKey).toInt());
     }
-
-
-
-
     //建立底部的参数信息
    rebuildUI("Waypoint");
 
 
+   connect(ui->radioButton_Relative,SIGNAL(clicked(bool)),
+           this,SLOT(on_radioButton_clicked()));
+   connect(ui->radioButton_Absolutely,SIGNAL(clicked(bool)),
+           this,SLOT(on_radioButton_clicked()));
+   connect(ui->radioButton_AGL,SIGNAL(clicked(bool)),
+           this,SLOT(on_radioButton_clicked()));
+
+
 }
 
 
@@ -105,6 +119,57 @@ void propertyui::on_comboBox_friendlyName_currentTextChanged(const QString &arg1
 }
 
 
+void propertyui::on_comboBox_MAV_CMD_currentIndexChanged(int index)
+{
+   ui->comboBox_friendlyName->setCurrentIndex(index);
+}
+
+
+void propertyui::on_comboBox_friendlyName_currentIndexChanged(int index)
+{
+    ui->comboBox_MAV_CMD->setCurrentIndex(index);
+}
+
+void propertyui::on_radioButton_clicked()
+{
+    FrameType::Types type;
+    if(ui->radioButton_Relative->isChecked())
+    {
+        type = FrameType::MAV_FRAME_GLOBAL_RELATIVE_ALT;
+    }
+    if(ui->radioButton_Absolutely->isChecked())
+    {
+        type = FrameType::MAV_FRAME_GLOBAL;
+    }
+    if(ui->radioButton_AGL->isChecked())
+    {
+        type = FrameType::MAV_FRAME_GLOBAL;
+    }
+
+    ui->comboBox_Frame->setCurrentText(FrameType::StrByType(type));
+}
+
+
+void propertyui::on_pushButton_ShowAll_clicked()
+{
+    if(isShowDetails == true)
+    {
+        isShowDetails = false;
+        ui->pushButton_ShowAll->setText("Details");
+    }
+    else
+    {
+        isShowDetails = true;
+        ui->pushButton_ShowAll->setText("Hidden");
+    }
+
+    rebuildUI(ui->comboBox_friendlyName->currentText());
+
+}
+
+
+
+
 
 void propertyui::rebuildUI(QString CMD)
 {
@@ -123,19 +188,42 @@ void propertyui::rebuildUI(QString CMD)
     }
 
     //重新载入UI
+    ui->label_Descript->setText(description());
 
-    //ui->frame_Speed->setHidden(true);
+    //隐藏altitude 的描述
-    //ui->frame_Param->setHidden(true);
+    ui->label_Alt_description->setHidden(true);
-
-    ui->textBrowser_description->setText(description());
 
 
-
+    //根据showDetails设置显示
-   //还要根据0,1
+    if(isShowDetails == true)
-    //QStringList     enumStrings     (void) const { return _enumStrings; }
+    {
-    //QVariantList    enumValues      (void) const { return _enumValues; }
+         ui->comboBox_Frame->setHidden(false);
+         ui->comboBox_MAV_CMD->setHidden(false);
+    }
+    else
+    {
+          ui->comboBox_Frame->setHidden(true);
+          ui->comboBox_MAV_CMD->setHidden(true);
+    }
 
     //一个一个设置
+    QLayoutItem *item;
+      while((item = ui->frame_Param->layout()->takeAt(0)) != 0){
+           //删除widget
+           if(item->widget()){
+               delete item->widget();
+               //item->widget()->deleteLater();
+           }
+           //删除子布局
+           QLayout *childLayout = item->layout();
+           if(childLayout){
+               //clearLayout(childLayout);
+           }
+           delete item;
+       }
+
+
+
     for(QMap<int, MissionCmdParamInfo*>::const_iterator item = _paramInfoMap.begin();item != _paramInfoMap.end();item++)
     {
          MissionCmdParamInfo* i = item.value();
@@ -143,48 +231,178 @@ void propertyui::rebuildUI(QString CMD)
          switch(i->param())
          {
          case 1:
+         {
+           QLabel *Label = new QLabel();
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
 
-           ui->label_Param1->setText(i->label());
-           ui->label_Unit_Param1->setText(i->units());
            if(i->enumStrings().size() != 0)
            {
-
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
            }
            else
            {
-              ui->lineEdit_Param1->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
 
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }break;
+         case 2:
+         {
+           QLabel *Label = new QLabel();
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
          }
          break;
-         case 2:
-             ui->label_Param2->setText(i->label());
-             ui->lineEdit_Param2->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
-             ui->label_Unit_Param2->setText(i->units());
-         break;
          case 3:
-           ui->label_Param3->setText(i->label());
+         {
-           ui->lineEdit_Param3->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+           QLabel *Label = new QLabel();
-           ui->label_Unit_Param3->setText(i->units());
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }
          break;
          case 4:
-           ui->label_Param4->setText(i->label());
+         {
-           ui->lineEdit_Param4->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+           QLabel *Label = new QLabel();
-           ui->label_Unit_Param4->setText(i->units());
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }
          break;
          case 5:
-           ui->label_Param5->setText(i->label());
+         {
-           ui->lineEdit_Param5->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+           QLabel *Label = new QLabel();
-           ui->label_Unit_Param5->setText(i->units());
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }
          break;
          case 6:
-           ui->label_Param6->setText(i->label());
+         {
-           ui->lineEdit_Param6->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+           QLabel *Label = new QLabel();
-           ui->label_Unit_Param6->setText(i->units());
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }
          break;
          case 7:
-           ui->label_Param7->setText(i->label());
+         {
-           ui->lineEdit_Param7->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+           QLabel *Label = new QLabel();
-           ui->label_Unit_Param7->setText(i->units());
+           Label->setText(i->label());
+           QLabel *Unit = new QLabel();
+           Unit->setText(i->units());
+
+           if(i->enumStrings().size() != 0)
+           {
+                QComboBox *combox = new QComboBox();
+                combox->addItems(i->enumStrings());
+                ui->frame_Param->layout()->addWidget(Label);
+                ui->frame_Param->layout()->addWidget(combox);
+           }
+           else
+           {
+               QLineEdit *param = new QLineEdit();
+               param->setText(QString::number(i->defaultValue(),'f',i->decimalPlaces()));
+
+               ui->frame_Param->layout()->addWidget(Label);
+               ui->frame_Param->layout()->addWidget(param);
+               //ui->frame_Param->layout()->addWidget(Unit);
+           }
+         }
          break;
          }
     }
@@ -254,10 +472,6 @@ void propertyui::_loadMavCmdInfoJson(const QString& jsonFilename, bool baseComma
             qWarning() << jsonFilename << "mavCmdArray should contain objects";
             return;
         }
-
-        //QString str;
-        //loadJsonInfo(info.toObject(),true,str);
-
     }
 
 
@@ -449,9 +663,6 @@ bool propertyui::loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObj
         }
     }
 
-
-    //qDebug() << _infoMap;
-
     if (requireFullObject) {
         // Since this is the base of the hierarchy it must contain valid defaults for all values.
         if (!_infoAvailable(_categoryJsonKey)) {
@@ -491,10 +702,8 @@ bool propertyui::loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObj
     for (const QString& infoKey: _infoMap.keys()) {
         debugOutput.append(QString("MavCmdInfo %1: %2 ").arg(infoKey).arg(_infoMap[infoKey].toString()));
     }
-    qDebug() << debugOutput;
 
     // Read params
-
     for (int i=1; i<=7; i++) {
         QString paramKey = QString(_paramJsonKeyFormat).arg(i);
 
@@ -594,3 +803,7 @@ bool propertyui::loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObj
 
 
 
+
+
+
+

opmap/mapwidget/propertyui.h

@@ -25,6 +25,18 @@
 #include "JsonHelper.h"
 
 
+
+
+#include "QComboBox"
+#include "QLineEdit"
+#include "QLabel"
+#include "QHBoxLayout"
+#include "QVBoxLayout"
+#include "QGridLayout"
+
+
+
+
 #ifdef QtopmapWidget
 #include <mapwidgetglobal.h>
 namespace Ui {
@@ -75,9 +87,68 @@ private:
 };
 
 
+#ifdef QtopmapWidget
+#include <mapwidgetglobal.h>
+class OPMAPWIDGETSHARED_EXPORT FrameType : public QObject {
+#else
+class FrameType : public QObject {
+#endif
+    Q_OBJECT Q_ENUMS(Types)
+public:
+    enum Types {
+        MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). | */
+        MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-down (x: north, y: east, z: down). | */
+        MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
+        MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
+        MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-up (x: east, y: north, z: up). | */
+        MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL). | */
+        MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location. | */
+        MAV_FRAME_LOCAL_OFFSET_NED=7, /* Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. | */
+        MAV_FRAME_BODY_NED=8, /* Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. | */
+        MAV_FRAME_BODY_OFFSET_NED=9, /* Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. | */
+        MAV_FRAME_GLOBAL_TERRAIN_ALT=10, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
+        MAV_FRAME_GLOBAL_TERRAIN_ALT_INT=11, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
+        MAV_FRAME_BODY_FRD=12, /* Body fixed frame of reference, Z-down (x: forward, y: right, z: down). | */
+        MAV_FRAME_BODY_FLU=13, /* Body fixed frame of reference, Z-up (x: forward, y: left, z: up). | */
+        MAV_FRAME_MOCAP_NED=14, /* Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down). | */
+        MAV_FRAME_MOCAP_ENU=15, /* Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up). | */
+        MAV_FRAME_VISION_NED=16, /* Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down). | */
+        MAV_FRAME_VISION_ENU=17, /* Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up). | */
+        MAV_FRAME_ESTIM_NED=18, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down). | */
+        MAV_FRAME_ESTIM_ENU=19, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up). | */
+        MAV_FRAME_ENUM_END=20, /*  | */
+    };
+    static QString StrByType(Types const & value)
+    {
+        QMetaObject metaObject = FrameType().staticMetaObject;
+        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
+        QString s = metaEnum.valueToKey(value);
 
+        return s;
+    }
+    static Types TypeByStr(QString const & value)
+    {
+        QMetaObject metaObject = FrameType().staticMetaObject;
+        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
+        Types s = (Types)metaEnum.keyToValue(value.toLatin1());
 
+        return s;
+    }
+    static QStringList TypesList()
+    {
+        QStringList ret;
+        QMetaObject metaObject = FrameType().staticMetaObject;
+        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
 
+        for (int x = 0; x < metaEnum.keyCount(); ++x) {
+            ret.append(metaEnum.key(x));
+        }
+        return ret;
+    }
+
+    friend class propertyui;
+
+};
 
 
 
@@ -112,9 +183,6 @@ public:
     ~propertyui();
 
 
-     Q_ENUM(MAV_FRAME)
-
-
     Q_PROPERTY(QString  category                READ category               CONSTANT)
     Q_PROPERTY(QString  description             READ description            CONSTANT)
     Q_PROPERTY(bool     friendlyEdit            READ friendlyEdit           CONSTANT)
@@ -149,6 +217,13 @@ public:
 private slots:
 
     void on_comboBox_friendlyName_currentTextChanged(const QString &arg1);
+    void on_comboBox_MAV_CMD_currentIndexChanged(int index);
+
+    void on_comboBox_friendlyName_currentIndexChanged(int index);
+
+    void on_radioButton_clicked();
+
+    void on_pushButton_ShowAll_clicked();
 
 private:
     QString _loadErrorString(const QString& errorString) const;
@@ -204,6 +279,8 @@ private:
     QJsonArray MAV_CMD_infoArray;
 
 
+    bool isShowDetails = false;
+
 
     //QQuickWidget *property_quick = nullptr;
 

opmap/mapwidget/propertyui.ui

@@ -6,26 +6,16 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>356</width>
+    <width>231</width>
-    <height>524</height>
+    <height>452</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
+  <layout class="QGridLayout" name="gridLayout_4">
    <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QLabel" name="label_Seq">
-       <property name="text">
-        <string>Seq</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QComboBox" name="comboBox_friendlyName"/>
-     </item>
      <item>
       <widget class="QPushButton" name="pushButton_Last">
        <property name="text">
@@ -40,214 +30,9 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QPushButton" name="pushButton_ShowAll">
-       <property name="text">
-        <string>Show</string>
-       </property>
-      </widget>
-     </item>
     </layout>
    </item>
-   <item row="1" column="0">
-    <widget class="QTextBrowser" name="textBrowser_description">
-     <property name="html">
-      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'SimSun';&quot;&gt;kjhvbkuviuyvyvtuytvuytvihyubgiurcddddddddchhytrfcjhcviytciytcdiuytfbniyrdu6erdbtr&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QFrame" name="frame_Alt">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_10">
-        <item>
-         <widget class="QRadioButton" name="radioButton">
-          <property name="text">
-           <string>Relative</string>
-          </property>
-          <property name="checked">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QRadioButton" name="radioButton_2">
-          <property name="text">
-           <string>Absolutely</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QRadioButton" name="radioButton_3">
-          <property name="text">
-           <string>AGL</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <widget class="QLineEdit" name="lineEdit_Alt"/>
-      </item>
-      <item>
-       <widget class="QLabel" name="label_Alt_description">
-        <property name="text">
-         <string>TextLabel</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QComboBox" name="comboBox_MAV_CMD"/>
-      </item>
-      <item>
-       <widget class="QComboBox" name="comboBox_Frame"/>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QFrame" name="frame_Param">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_3">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_Param1">
-        <property name="text">
-         <string>Param1</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param1"/>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_Unit_Param1">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_Param2">
-        <property name="text">
-         <string>Param2</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param2"/>
-      </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_Unit_Param2">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_Param3">
-        <property name="text">
-         <string>Param3</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param3"/>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_Unit_Param3">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_Param4">
-        <property name="text">
-         <string>Param4</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param4"/>
-      </item>
-      <item row="3" column="2">
-       <widget class="QLabel" name="label_Unit_Param4">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_Param5">
-        <property name="text">
-         <string>Lat/X</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param5"/>
-      </item>
-      <item row="4" column="2">
-       <widget class="QLabel" name="label_Unit_Param5">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-      <item row="5" column="0">
-       <widget class="QLabel" name="label_Param6">
-        <property name="text">
-         <string>Lng/Y</string>
-        </property>
-       </widget>
-      </item>
-      <item row="5" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param6"/>
-      </item>
-      <item row="5" column="2">
-       <widget class="QLabel" name="label_Unit_Param6">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
    <item row="6" column="0">
-       <widget class="QLabel" name="label_Param7">
-        <property name="text">
-         <string>Alt/Z</string>
-        </property>
-       </widget>
-      </item>
-      <item row="6" column="1">
-       <widget class="QLineEdit" name="lineEdit_Param7"/>
-      </item>
-      <item row="6" column="2">
-       <widget class="QLabel" name="label_Unit_Param7">
-        <property name="text">
-         <string>Unit</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="4" column="0">
     <widget class="QFrame" name="frame_Speed">
      <property name="frameShape">
       <enum>QFrame::StyledPanel</enum>
@@ -256,6 +41,18 @@ p, li { white-space: pre-wrap; }
       <enum>QFrame::Raised</enum>
      </property>
      <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>1</number>
+      </property>
+      <property name="topMargin">
+       <number>1</number>
+      </property>
+      <property name="rightMargin">
+       <number>1</number>
+      </property>
+      <property name="bottomMargin">
+       <number>1</number>
+      </property>
       <item row="0" column="0">
        <layout class="QHBoxLayout" name="horizontalLayout_9">
         <item>
@@ -284,6 +81,191 @@ p, li { white-space: pre-wrap; }
      </layout>
     </widget>
    </item>
+   <item row="5" column="0">
+    <widget class="QFrame" name="frame_Param">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_Param4">
+        <property name="text">
+         <string>Param4</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param4"/>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_Param2">
+        <property name="text">
+         <string>Param2</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param1"/>
+      </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_Param5">
+        <property name="text">
+         <string>Lat/X</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param6"/>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param3"/>
+      </item>
+      <item row="6" column="0">
+       <widget class="QLabel" name="label_Param7">
+        <property name="text">
+         <string>Alt/Z</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param7"/>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_Param1">
+        <property name="text">
+         <string>Param1</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param5"/>
+      </item>
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_Param6">
+        <property name="text">
+         <string>Lng/Y</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_Param3">
+        <property name="text">
+         <string>Param3</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLineEdit" name="lineEdit_Param2"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_Descript">
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <layout class="QGridLayout" name="gridLayout_2">
+     <item row="0" column="0">
+      <widget class="QComboBox" name="comboBox_MAV_CMD"/>
+     </item>
+     <item row="1" column="0">
+      <widget class="QComboBox" name="comboBox_Frame"/>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="0">
+    <widget class="QFrame" name="frame_Alt">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <property name="leftMargin">
+       <number>1</number>
+      </property>
+      <property name="topMargin">
+       <number>1</number>
+      </property>
+      <property name="rightMargin">
+       <number>1</number>
+      </property>
+      <property name="bottomMargin">
+       <number>1</number>
+      </property>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_10">
+        <item>
+         <widget class="QRadioButton" name="radioButton_Relative">
+          <property name="text">
+           <string>Relative</string>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_Absolutely">
+          <property name="text">
+           <string>Absolutely</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QRadioButton" name="radioButton_AGL">
+          <property name="text">
+           <string>AGL</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="lineEdit_Alt"/>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_Alt_description">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QLabel" name="label_Seq">
+       <property name="text">
+        <string>Seq</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QComboBox" name="comboBox_friendlyName"/>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton_ShowAll">
+       <property name="text">
+        <string>Details</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <resources/>
@@ -295,12 +277,28 @@ p, li { white-space: pre-wrap; }
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>44</x>
+     <x>48</x>
-     <y>491</y>
+     <y>464</y>
     </hint>
     <hint type="destinationlabel">
-     <x>115</x>
+     <x>186</x>
-     <y>495</y>
+     <y>466</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>lineEdit_Param7</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>lineEdit_Alt</receiver>
+   <slot>setText(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>60</x>
+     <y>437</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>23</x>
+     <y>241</y>
     </hint>
    </hints>
   </connection>

opmap/mapwidget/waypointitem.cpp

@@ -462,6 +462,7 @@ void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
     property.z = alt;
     property.seq = seq;
     property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
+    property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
     //...
 }