From c8f81b9956ce7255dac4bb631d783b55487aada7 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh@free.fr>
Date: Thu, 28 Dec 2017 20:10:09 +0100
Subject: [PATCH] LP-572 WP Editor: Add online help. Fixes + display WPnumber
 while browsing between tabs.

---
 .../opmap/opmap_edit_waypoint_dialog.cpp      | 305 ++++++----
 .../opmap/opmap_edit_waypoint_dialog.ui       | 559 +++++++++++++++---
 .../gcs/src/plugins/opmap/widgetdelegates.cpp |  12 +-
 3 files changed, 656 insertions(+), 220 deletions(-)

diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
index 0b41bc21f..9e9af7aeb 100644
--- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
+++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
@@ -38,6 +38,8 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
     ui(new Ui::opmap_edit_waypoint_dialog)
 {
     ui->setupUi(this);
+    ui->pushButtonPrevious->setEnabled(false);
+    ui->pushButtonNext->setEnabled(false);
     connect(ui->checkBoxLocked, SIGNAL(toggled(bool)), this, SLOT(enableEditWidgets(bool)));
     connect(ui->cbMode, SIGNAL(currentIndexChanged(int)), this, SLOT(setupModeWidgets()));
     connect(ui->cbCondition, SIGNAL(currentIndexChanged(int)), this, SLOT(setupConditionWidgets()));
@@ -77,10 +79,27 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent, QAbstrac
     mapper->addMapping(ui->sbJump, flightDataModel::JUMPDESTINATION);
     mapper->addMapping(ui->sbError, flightDataModel::ERRORDESTINATION);
     connect(itemSelection, SIGNAL(currentRowChanged(QModelIndex, QModelIndex)), this, SLOT(currentRowChanged(QModelIndex, QModelIndex)));
+
+    ui->descriptionCommandLabel->setText(tr("<p>The Command specifies the transition to the next state (aka waypoint), as well as when it "
+                                            "is to be executed. This command will always switch to another waypoint instantly, but which waypoint depends on the Condition.</p>"
+                                            "<p>The JumpDestination is the waypoint to jump to in unconditional or conditional jumps.</p>"));
+
+    ui->descriptionErrorDestinationLabel->setText(tr("<p>The ErrorDestination is special; it allows exception handling based on the PathFollower. "
+                                                     "If the PathFollower indicates that it is unable to execute Mode, it indicates this error in the PathStatus UAVObject. "
+                                                     "If that happens, then the sequence of waypoints is interrupted and the waypoint in ErrorDestination becomes the Active Waypoint. "
+                                                     "A thinkable use case for this functionality would be to steer towards a safe emergency landing site if the engine fails.</p>"));
 }
+
 void opmap_edit_waypoint_dialog::currentIndexChanged(int index)
 {
     ui->lbNumber->setText(QString::number(index + 1));
+    ui->wpNumberSpinBox->setValue(index + 1);
+
+    bool isMin = (index == 0);
+    bool isMax = ((index + 1) == mapper->model()->rowCount());
+    ui->pushButtonPrevious->setEnabled(!isMin);
+    ui->pushButtonNext->setEnabled(!isMax);
+
     QModelIndex idx = mapper->model()->index(index, 0);
     if (index == itemSelection->currentIndex().row()) {
         return;
@@ -98,162 +117,205 @@ void opmap_edit_waypoint_dialog::setupModeWidgets()
 {
     MapDataDelegate::ModeOptions mode = (MapDataDelegate::ModeOptions)ui->cbMode->itemData(ui->cbMode->currentIndex()).toInt();
 
+    ui->modeParam1->setText("");
+    ui->modeParam2->setText("");
+    ui->modeParam3->setText("");
+    ui->modeParam4->setText("");
+    ui->modeParam1->setEnabled(false);
+    ui->modeParam2->setEnabled(false);
+    ui->modeParam3->setEnabled(false);
+    ui->modeParam4->setEnabled(false);
+    ui->dsb_modeParam1->setEnabled(false);
+    ui->dsb_modeParam2->setEnabled(false);
+    ui->dsb_modeParam3->setEnabled(false);
+    ui->dsb_modeParam4->setEnabled(false);
+
     switch (mode) {
     case MapDataDelegate::MODE_GOTOENDPOINT:
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will try to hold position at a fixed end-coordinate. "
+                                             "If elsewhere, the craft will steer towards the coordinate but not "
+                                             "necessarily in a straight line as drift will not be compensated.</p>"));
+        break;
     case MapDataDelegate::MODE_FOLLOWVECTOR:
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to stay on a defined trajectory from the previous waypoint "
+                                             "to the current one. Any deviation from this path, for example by wind, will be corrected. "
+                                             "This is the best and obvious choice for direct straight-line (rhumb line) navigation in any vehicle.</p>"));
+        break;
     case MapDataDelegate::MODE_CIRCLERIGHT:
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
+                                             "The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
+                                             "of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
+                                             "will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
+                                             "loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
+                                             "to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
+                                             "turns in flight paths.</p>"));
+        break;
     case MapDataDelegate::MODE_CIRCLELEFT:
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will attempt to fly a circular trajectory around a waypoint. "
+                                             "The curve radius is defined by the distance from the previous waypoint, therefore setting the coordinate "
+                                             "of the waypoint perpendicular to the previous flight path leg (and on the side the vehicle is supposed to turn toward!) "
+                                             "will lead to the smoothest possible transition.</p><p>Staying in FlyCircle for a prolonged time will lead to a circular "
+                                             "loiter trajectory around a waypoint, but this mode can be used in combination with the PointingTowardsNext-EndCondition "
+                                             "to stay on the curved trajectory until the vehicle is moving towards the next waypoint, which allows for very controlled "
+                                             "turns in flight paths.</p>"));
+        break;
     case MapDataDelegate::MODE_DISARMALARM:
-    case MapDataDelegate::MODE_LAND:
-    case MapDataDelegate::MODE_BRAKE:
-        ui->modeParam1->setVisible(false);
-        ui->modeParam2->setVisible(false);
-        ui->modeParam3->setVisible(false);
-        ui->modeParam4->setVisible(false);
-        ui->dsb_modeParam1->setVisible(false);
-        ui->dsb_modeParam2->setVisible(false);
-        ui->dsb_modeParam3->setVisible(false);
-        ui->dsb_modeParam4->setVisible(false);
-        break;
-    case MapDataDelegate::MODE_VELOCITY:
-        ui->modeParam1->setVisible(true);
-        ui->modeParam2->setVisible(true);
-        ui->modeParam3->setVisible(true);
-        ui->modeParam4->setVisible(false);
-        ui->dsb_modeParam1->setVisible(true);
-        ui->dsb_modeParam2->setVisible(true);
-        ui->dsb_modeParam3->setVisible(true);
-        ui->dsb_modeParam4->setVisible(false);
-        break;
-    case MapDataDelegate::MODE_FIXEDATTITUDE:
-        ui->modeParam1->setText("pitch");
-        ui->modeParam2->setText("roll");
-        ui->modeParam3->setText("yaw");
-        ui->modeParam4->setText("thrust");
-        ui->modeParam1->setVisible(true);
-        ui->modeParam2->setVisible(true);
-        ui->modeParam3->setVisible(true);
-        ui->modeParam4->setVisible(true);
-        ui->dsb_modeParam1->setVisible(true);
-        ui->dsb_modeParam2->setVisible(true);
-        ui->dsb_modeParam3->setVisible(true);
-        ui->dsb_modeParam4->setVisible(true);
-        break;
-    case MapDataDelegate::MODE_SETACCESSORY:
-        ui->modeParam1->setText("Acc.channel");
-        ui->modeParam2->setText("Value");
-        ui->modeParam1->setVisible(true);
-        ui->modeParam2->setVisible(true);
-        ui->modeParam3->setVisible(false);
-        ui->modeParam4->setVisible(false);
-        ui->dsb_modeParam1->setVisible(true);
-        ui->dsb_modeParam2->setVisible(true);
-        ui->dsb_modeParam3->setVisible(false);
-        ui->dsb_modeParam4->setVisible(false);
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot is instructed to force a CRITICAL PathFollower alarm. A PathFollower alarm of type CRITICAL "
+                                             "is supposed to automatically set the vehicle to DISARMED and thus disable the engines, cut fuel supply, ...</p><p>"
+                                             "The PathFollower can do this during any mode in case of emergency, but through this mode the PathPlanner "
+                                             "can force this behavior, for example after a landing.</p>"));
         break;
     case MapDataDelegate::MODE_AUTOTAKEOFF:
-        // FIXME: Do nothing?
+        // FixedWing do not use parameters, vertical velocity can be set for multirotors as param0
+        ui->modeParam1->setText("Speed (m/s):");
+        ui->modeParam1->setEnabled(true);
+        ui->dsb_modeParam1->setEnabled(true);
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated takeoff sequence. "
+                                             "Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
+                                             "a vertical climb for a multirotor.</p>"
+                                             "<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
+        break;
+    case MapDataDelegate::MODE_LAND:
+        // FixedWing do not use parameters, vertical velocity can be set for multirotors as param0 (0.1/0.6m/s range)
+        ui->modeParam1->setText("Speed (m/s):");
+        ui->modeParam1->setEnabled(true);
+        ui->dsb_modeParam1->setEnabled(true);
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will engage a hardcoded, fully automated landing sequence. "
+                                             "Using a fixed attitude, heading towards the destination waypoint for a fixed wing or "
+                                             "a vertical descent for a multirotor.</p>"
+                                             "<p>Vertical speed in meters/second, for multirotors. (Will be around 0.6m/s)</p>"));
+        break;
+    case MapDataDelegate::MODE_BRAKE:
+        ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to slow down the velocity.</p>"));
+        break;
+    case MapDataDelegate::MODE_VELOCITY:
+        ui->descriptionModeLabel->setText(tr("<p>This mode is used internally by assisted flight modes with multirotors to maintain a velocity in 3D space.</p>"));
+        break;
+    case MapDataDelegate::MODE_FIXEDATTITUDE:
+        ui->modeParam1->setText("Roll:");
+        ui->modeParam2->setText("Pitch:");
+        ui->modeParam3->setText("Yaw:");
+        ui->modeParam4->setText("Thrust:");
+        ui->modeParam1->setEnabled(true);
+        ui->modeParam2->setEnabled(true);
+        ui->modeParam3->setEnabled(true);
+        ui->modeParam4->setEnabled(true);
+        ui->dsb_modeParam1->setEnabled(true);
+        ui->dsb_modeParam2->setEnabled(true);
+        ui->dsb_modeParam3->setEnabled(true);
+        ui->dsb_modeParam4->setEnabled(true);
+        ui->descriptionModeLabel->setText(tr("<p>The Autopilot will play dumb and simply instruct the Stabilization Module to assume a certain Roll, Pitch angle "
+                                             "and optionally a Yaw rotation rate and Thrust setting. This allows for very simple auto-takeoff and "
+                                             "auto-landing maneuvers.</p>"
+                                             "<p>Roll(+-180°) and Pitch (+-90°) angles in degrees</p>"
+                                             "<p>Yaw rate in deg/s</p>"
+                                             "<p>Thrust from 0 to 1</p>"));
+        break;
+    case MapDataDelegate::MODE_SETACCESSORY:
+        ui->modeParam1->setText("Acc.channel:");
+        ui->modeParam2->setText("Value:");
+        ui->modeParam1->setEnabled(true);
+        ui->modeParam2->setEnabled(true);
+        ui->dsb_modeParam1->setEnabled(true);
+        ui->dsb_modeParam2->setEnabled(true);
+        ui->descriptionModeLabel->setText(tr("<p>Not yet implemented.</p>"));
+        // ui->descriptionModeLabel->setText(tr("<p>In this mode, the PathFollower is supposed to inject a specific value (-1|0|+1 range) into an AccessoryDesired channel. "
+        // "This would allow one to control arbitrary auxilliary components from the PathPlanner like flaps and landing gear.</p>"));
+        break;
+    default:
+        ui->descriptionModeLabel->setText(tr(""));
         break;
     }
 }
+
 void opmap_edit_waypoint_dialog::setupConditionWidgets()
 {
     MapDataDelegate::EndConditionOptions mode = (MapDataDelegate::EndConditionOptions)ui->cbCondition->itemData(ui->cbCondition->currentIndex()).toInt();
 
+    ui->condParam1->setText("");
+    ui->condParam2->setText("");
+    ui->condParam3->setText("");
+    ui->condParam4->setText("");
+    ui->condParam1->setEnabled(false);
+    ui->condParam2->setEnabled(false);
+    ui->condParam3->setEnabled(false);
+    ui->condParam4->setEnabled(false);
+    ui->dsb_condParam1->setEnabled(false);
+    ui->dsb_condParam2->setEnabled(false);
+    ui->dsb_condParam3->setEnabled(false);
+    ui->dsb_condParam4->setEnabled(false);
+
     switch (mode) {
     case MapDataDelegate::ENDCONDITION_NONE:
+        ui->descriptionConditionLabel->setText(tr("<p>This condition is always false. A WaypointAction with EndCondition to None will stay in "
+                                                  "its mode until forever, or until an Error in the PathFollower triggers the ErrorJump. (For example out of fuel!)</p>"));
+        break;
     case MapDataDelegate::ENDCONDITION_IMMEDIATE:
+        ui->descriptionConditionLabel->setText(tr("<p>Opposite to the None condition, the immediate condition is always true.</p>"));
+        break;
     case MapDataDelegate::ENDCONDITION_PYTHONSCRIPT:
-        ui->condParam1->setVisible(false);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(false);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
+        ui->descriptionConditionLabel->setText(tr("<p>Not yet implemented.</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_TIMEOUT:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Timeout(s)");
+        ui->condParam1->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->condParam1->setText("Timeout (s)");
+        ui->descriptionConditionLabel->setText(tr("<p>The Timeout condition measures time this waypoint is active (in seconds).</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_DISTANCETOTARGET:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(true);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(true);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Distance(m)");
-        ui->condParam2->setText("Flag(0=2D,1=3D)"); // FIXME
+        ui->condParam1->setEnabled(true);
+        ui->condParam2->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->dsb_condParam2->setEnabled(true);
+        ui->condParam1->setText("Distance (m):");
+        ui->condParam2->setText("Flag:");
+        ui->descriptionConditionLabel->setText(tr("<p>The DistanceToTarget condition measures the distance to a waypoint, returns true if closer.</p>"
+                                                  "<p>Flag: <b>0</b>= 2D distance, <b>1</b>= 3D distance</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_LEGREMAINING:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Relative Distance(0=complete,1=just starting)");
+        ui->condParam1->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->condParam1->setText("Relative Distance:");
+        ui->descriptionConditionLabel->setText(tr("<p>The LegRemaining condition measures how far the pathfollower got on a linear path segment, returns true "
+                                                  "if closer to destination(path more complete).</p>"
+                                                  "<p><b>0</b>=complete, <b>1</b>=just starting</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_BELOWERROR:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("error margin (in m)");
+        ui->condParam1->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->condParam1->setText("Error margin (m):");
+        ui->descriptionConditionLabel->setText(tr("<p>The BelowError condition measures the error on a path segment, returns true if error is below margin in meters.</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_ABOVEALTITUDE:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Altitude in meters (negative)");
+        ui->condParam1->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->condParam1->setText("Altitude (m):");
+        ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if "
+                                                  "above critical altitude.</p><p><b>WARNING!</b> altitudes set here are always <b>negative</b> if above Home. (down coordinate)</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_ABOVESPEED:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(true);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(true);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Speed in meters/second");
-        ui->condParam2->setText("flag: 0=groundspeed 1=airspeed");
+        ui->condParam1->setEnabled(true);
+        ui->condParam2->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->dsb_condParam2->setEnabled(true);
+        ui->condParam1->setText("Speed (m/s):");
+        ui->condParam2->setText("Flag:");
+        ui->descriptionConditionLabel->setText(tr("<p>The AboveSpeed measures the movement speed(3D), returns true if above critical speed</p>"
+                                                  "<p>Speed in meters / second</p>"
+                                                  "<p>Flag: <b>0</b>= groundspeed <b>1</b>= airspeed</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_POINTINGTOWARDSNEXT:
-        ui->condParam1->setVisible(true);
-        ui->condParam2->setVisible(false);
-        ui->condParam3->setVisible(false);
-        ui->condParam4->setVisible(false);
-        ui->dsb_condParam1->setVisible(true);
-        ui->dsb_condParam2->setVisible(false);
-        ui->dsb_condParam3->setVisible(false);
-        ui->dsb_condParam4->setVisible(false);
-        ui->condParam1->setText("Degrees variation allowed");
+        ui->condParam1->setEnabled(true);
+        ui->dsb_condParam1->setEnabled(true);
+        ui->condParam1->setText("Degrees:");
+        ui->descriptionConditionLabel->setText(tr("<p>The PointingTowardsNext condition measures the horizontal movement vector direction relative "
+                                                  "to the next waypoint regardless whether this waypoint will ever be active "
+                                                  "(Command could jump to a different waypoint on true).</p><p>This is useful for curve segments where "
+                                                  "the craft should stop circling when facing a certain way(usually the next waypoint), "
+                                                  "returns true if within a certain angular margin in degrees.</p>"));
         break;
     default:
-
+        ui->descriptionConditionLabel->setText(tr(""));
         break;
     }
 }
@@ -304,7 +366,6 @@ void opmap_edit_waypoint_dialog::on_pushButtonApply_clicked()
     mapper->submit();
 }
 
-
 void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
 {
     QWidget *w;
diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
index 597c3e6ac..4dfb28d2b 100644
--- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
+++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
@@ -83,7 +83,7 @@
            </property>
           </widget>
          </item>
-         <item row="11" column="0">
+         <item row="9" column="0">
           <widget class="QLabel" name="label_8">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -99,10 +99,10 @@
            </property>
           </widget>
          </item>
-         <item row="11" column="2" colspan="2">
+         <item row="9" column="1" colspan="2">
           <widget class="QLineEdit" name="lineEditDescription"/>
          </item>
-         <item row="2" column="2">
+         <item row="2" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBoxLatitude">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -121,7 +121,7 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="2">
+         <item row="3" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBoxLongitude">
            <property name="decimals">
             <number>5</number>
@@ -134,14 +134,14 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="3">
+         <item row="3" column="2">
           <widget class="QLabel" name="lbDegLong">
            <property name="text">
             <string>degrees</string>
            </property>
           </widget>
          </item>
-         <item row="2" column="3">
+         <item row="2" column="2">
           <widget class="QLabel" name="lbDegLat">
            <property name="text">
             <string>degrees</string>
@@ -164,21 +164,21 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="3">
+         <item row="5" column="2">
           <widget class="QLabel" name="lbDistanceMeters">
            <property name="text">
             <string>meters</string>
            </property>
           </widget>
          </item>
-         <item row="7" column="3">
+         <item row="6" column="2">
           <widget class="QLabel" name="lbBearingDeg">
            <property name="text">
             <string>degrees</string>
            </property>
           </widget>
          </item>
-         <item row="7" column="0">
+         <item row="6" column="0">
           <widget class="QLabel" name="lbBearing">
            <property name="text">
             <string>Bearing </string>
@@ -188,7 +188,7 @@
            </property>
           </widget>
          </item>
-         <item row="7" column="2">
+         <item row="6" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBoxBearing">
            <property name="decimals">
             <number>2</number>
@@ -198,7 +198,7 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="0">
+         <item row="5" column="0">
           <widget class="QLabel" name="lbDistance">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -214,7 +214,7 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="3">
+         <item row="0" column="2">
           <widget class="QCheckBox" name="checkBoxLocked">
            <property name="layoutDirection">
             <enum>Qt::LeftToRight</enum>
@@ -234,21 +234,28 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="2">
+         <item row="0" column="1">
           <widget class="QLabel" name="lbNumber">
            <property name="text">
             <string>0</string>
            </property>
           </widget>
          </item>
-         <item row="1" column="2">
+         <item row="8" column="1">
+          <widget class="QDoubleSpinBox" name="doubleSpinBoxVelocity">
+           <property name="maximum">
+            <double>999999999.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
           <widget class="QCheckBox" name="checkBoxRelative">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
-         <item row="10" column="0">
+         <item row="8" column="0">
           <widget class="QLabel" name="label_4">
            <property name="text">
             <string>Velocity </string>
@@ -258,13 +265,6 @@
            </property>
           </widget>
          </item>
-         <item row="10" column="2">
-          <widget class="QDoubleSpinBox" name="doubleSpinBoxVelocity">
-           <property name="maximum">
-            <double>999999999.000000000000000</double>
-           </property>
-          </widget>
-         </item>
          <item row="4" column="0">
           <widget class="QLabel" name="label_3">
            <property name="sizePolicy">
@@ -281,14 +281,14 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="3">
+         <item row="4" column="2">
           <widget class="QLabel" name="label_6">
            <property name="text">
             <string>meters</string>
            </property>
           </widget>
          </item>
-         <item row="8" column="0">
+         <item row="7" column="0">
           <widget class="QLabel" name="label_5">
            <property name="text">
             <string>Relative altitude </string>
@@ -298,7 +298,7 @@
            </property>
           </widget>
          </item>
-         <item row="8" column="2">
+         <item row="7" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBoxRelativeAltitude">
            <property name="minimum">
             <double>-999999999.000000000000000</double>
@@ -308,24 +308,7 @@
            </property>
           </widget>
          </item>
-         <item row="8" column="3">
-          <widget class="QLabel" name="label_9">
-           <property name="text">
-            <string>meters</string>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="2">
-          <widget class="QDoubleSpinBox" name="doubleSpinBoxDistance">
-           <property name="decimals">
-            <number>2</number>
-           </property>
-           <property name="maximum">
-            <double>999999999.000000000000000</double>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="2">
+         <item row="4" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBoxAltitude">
            <property name="minimum">
             <double>-5000.000000000000000</double>
@@ -335,7 +318,24 @@
            </property>
           </widget>
          </item>
-         <item row="10" column="3">
+         <item row="7" column="2">
+          <widget class="QLabel" name="label_9">
+           <property name="text">
+            <string>meters</string>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="1">
+          <widget class="QDoubleSpinBox" name="doubleSpinBoxDistance">
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>999999999.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="8" column="2">
           <widget class="QLabel" name="label_10">
            <property name="text">
             <string>m/s</string>
@@ -344,6 +344,19 @@
          </item>
         </layout>
        </item>
+       <item row="1" column="0">
+        <spacer name="verticalSpacer_4">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>0</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab_4">
@@ -353,6 +366,48 @@
       <layout class="QGridLayout" name="gridLayout_8">
        <item row="0" column="0">
         <layout class="QGridLayout" name="gridLayout_3">
+         <item row="0" column="2" rowspan="6">
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <property name="leftMargin">
+            <number>6</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="descriptionModeLabel">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Description</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignJustify|Qt::AlignTop</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_8">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>5</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
          <item row="0" column="0">
           <widget class="QLabel" name="label">
            <property name="sizePolicy">
@@ -363,7 +418,7 @@
            </property>
            <property name="minimumSize">
             <size>
-             <width>100</width>
+             <width>120</width>
              <height>0</height>
             </size>
            </property>
@@ -379,7 +434,14 @@
           </widget>
          </item>
          <item row="0" column="1">
-          <widget class="QComboBox" name="cbMode"/>
+          <widget class="QComboBox" name="cbMode">
+           <property name="minimumSize">
+            <size>
+             <width>120</width>
+             <height>0</height>
+            </size>
+           </property>
+          </widget>
          </item>
          <item row="1" column="1">
           <widget class="QDoubleSpinBox" name="dsb_modeParam1">
@@ -399,6 +461,12 @@
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
+           <property name="minimumSize">
+            <size>
+             <width>100</width>
+             <height>0</height>
+            </size>
+           </property>
            <property name="layoutDirection">
             <enum>Qt::LeftToRight</enum>
            </property>
@@ -427,6 +495,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="3" column="0">
@@ -446,6 +517,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="4" column="0">
@@ -465,6 +539,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="2" column="1">
@@ -497,21 +574,34 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="2">
-          <spacer name="horizontalSpacer_2">
+         <item row="5" column="1">
+          <spacer name="verticalSpacer_6">
            <property name="orientation">
-            <enum>Qt::Horizontal</enum>
+            <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
-             <width>40</width>
-             <height>20</height>
+             <width>20</width>
+             <height>5</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </item>
+       <item row="1" column="0">
+        <spacer name="verticalSpacer_3">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>0</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab">
@@ -519,11 +609,37 @@
        <string>End condition</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout_7">
+       <item row="2" column="0">
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>0</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
        <item row="0" column="0">
         <layout class="QGridLayout" name="gridLayout_4">
          <property name="sizeConstraint">
           <enum>QLayout::SetDefaultConstraint</enum>
          </property>
+         <item row="5" column="1">
+          <spacer name="verticalSpacer_5">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>5</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
          <item row="0" column="0">
           <widget class="QLabel" name="Condition">
            <property name="sizePolicy">
@@ -534,7 +650,7 @@
            </property>
            <property name="minimumSize">
             <size>
-             <width>100</width>
+             <width>120</width>
              <height>0</height>
             </size>
            </property>
@@ -550,7 +666,14 @@
           </widget>
          </item>
          <item row="0" column="1">
-          <widget class="QComboBox" name="cbCondition"/>
+          <widget class="QComboBox" name="cbCondition">
+           <property name="minimumSize">
+            <size>
+             <width>150</width>
+             <height>0</height>
+            </size>
+           </property>
+          </widget>
          </item>
          <item row="1" column="1">
           <widget class="QDoubleSpinBox" name="dsb_condParam1">
@@ -579,6 +702,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="2" column="0">
@@ -598,6 +724,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="3" column="0">
@@ -617,6 +746,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="4" column="0">
@@ -636,6 +768,9 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
          <item row="2" column="1">
@@ -668,18 +803,47 @@
            </property>
           </widget>
          </item>
-         <item row="2" column="2">
-          <spacer name="horizontalSpacer_3">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
+         <item row="0" column="2" rowspan="6">
+          <layout class="QVBoxLayout" name="verticalLayout_4">
+           <property name="leftMargin">
+            <number>6</number>
            </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
+           <property name="topMargin">
+            <number>0</number>
            </property>
-          </spacer>
+           <item>
+            <widget class="QLabel" name="descriptionConditionLabel">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Description</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignJustify|Qt::AlignTop</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_9">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
          </item>
         </layout>
        </item>
@@ -690,12 +854,100 @@
        <string>Command</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout_6">
+       <item row="4" column="0">
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>0</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item row="1" column="0">
+        <widget class="Line" name="line">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
        <item row="0" column="0">
         <layout class="QGridLayout" name="gridLayout_5">
          <property name="sizeConstraint">
           <enum>QLayout::SetDefaultConstraint</enum>
          </property>
-         <item row="0" column="0">
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <item row="2" column="1" colspan="4">
+          <widget class="QLabel" name="descriptionCommandLabel">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Description</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignJustify|Qt::AlignVCenter</set>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <spacer name="horizontalSpacer_5">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Fixed</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>6</width>
+             <height>0</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="2" colspan="2">
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QSpinBox" name="sbJump">
+             <property name="minimumSize">
+              <size>
+               <width>60</width>
+               <height>0</height>
+              </size>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>0</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
+         <item row="0" column="0" colspan="2">
           <widget class="QLabel" name="label_2">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -705,7 +957,7 @@
            </property>
            <property name="minimumSize">
             <size>
-             <width>100</width>
+             <width>130</width>
              <height>0</height>
             </size>
            </property>
@@ -720,10 +972,17 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="1">
-          <widget class="QComboBox" name="cbCommand"/>
+         <item row="0" column="2" colspan="2">
+          <widget class="QComboBox" name="cbCommand">
+           <property name="minimumSize">
+            <size>
+             <width>210</width>
+             <height>0</height>
+            </size>
+           </property>
+          </widget>
          </item>
-         <item row="1" column="0">
+         <item row="1" column="0" colspan="2">
           <widget class="QLabel" name="jumpDest">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -740,29 +999,29 @@
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
-          </widget>
-         </item>
-         <item row="2" column="0">
-          <widget class="QLabel" name="condParam2_2">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="layoutDirection">
-            <enum>Qt::LeftToRight</enum>
-           </property>
-           <property name="text">
-            <string>Error Destination</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           <property name="wordWrap">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item row="2" column="2">
-          <spacer name="horizontalSpacer_4">
+         <item row="2" column="5">
+          <spacer name="horizontalSpacer_7">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Fixed</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>6</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="0" column="4">
+          <spacer name="horizontalSpacer_3">
            <property name="orientation">
             <enum>Qt::Horizontal</enum>
            </property>
@@ -774,11 +1033,117 @@
            </property>
           </spacer>
          </item>
-         <item row="1" column="1">
-          <widget class="QSpinBox" name="sbJump"/>
+        </layout>
+       </item>
+       <item row="2" column="0">
+        <layout class="QGridLayout" name="gridLayout_9">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <item row="1" column="0">
+          <spacer name="horizontalSpacer_9">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Fixed</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>6</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
          </item>
-         <item row="2" column="1">
-          <widget class="QSpinBox" name="sbError"/>
+         <item row="1" column="1" colspan="3">
+          <widget class="QLabel" name="descriptionErrorDestinationLabel">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Description</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="2">
+          <widget class="QLabel" name="condParam2_2">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>130</width>
+             <height>0</height>
+            </size>
+           </property>
+           <property name="layoutDirection">
+            <enum>Qt::LeftToRight</enum>
+           </property>
+           <property name="text">
+            <string>Error Destination</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="4">
+          <spacer name="horizontalSpacer_8">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Fixed</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>6</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="0" column="2">
+          <widget class="QSpinBox" name="sbError">
+           <property name="minimumSize">
+            <size>
+             <width>60</width>
+             <height>0</height>
+            </size>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <spacer name="horizontalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>10</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
          </item>
         </layout>
        </item>
@@ -795,6 +1160,16 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QSpinBox" name="wpNumberSpinBox">
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="buttonSymbols">
+        <enum>QAbstractSpinBox::NoButtons</enum>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QPushButton" name="pushButtonNext">
        <property name="text">
diff --git a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp
index b0ff8bed0..e69fb998f 100644
--- a/ground/gcs/src/plugins/opmap/widgetdelegates.cpp
+++ b/ground/gcs/src/plugins/opmap/widgetdelegates.cpp
@@ -122,7 +122,7 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa
     case flightDataModel::CONDITION:
         combo->addItem("None", ENDCONDITION_NONE);
         combo->addItem("Timeout", ENDCONDITION_TIMEOUT);
-        combo->addItem("Distance to tgt", ENDCONDITION_DISTANCETOTARGET);
+        combo->addItem("Distance to target", ENDCONDITION_DISTANCETOTARGET);
         combo->addItem("Leg remaining", ENDCONDITION_LEGREMAINING);
         combo->addItem("Below Error", ENDCONDITION_BELOWERROR);
         combo->addItem("Above Altitude", ENDCONDITION_ABOVEALTITUDE);
@@ -132,11 +132,11 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa
         combo->addItem("Immediate", ENDCONDITION_IMMEDIATE);
         break;
     case flightDataModel::COMMAND:
-        combo->addItem("On conditon next wp", COMMAND_ONCONDITIONNEXTWAYPOINT);
-        combo->addItem("On NOT conditon next wp", COMMAND_ONNOTCONDITIONNEXTWAYPOINT);
-        combo->addItem("On conditon jump wp", COMMAND_ONCONDITIONJUMPWAYPOINT);
-        combo->addItem("On NOT conditon jump wp", COMMAND_ONNOTCONDITIONJUMPWAYPOINT);
-        combo->addItem("On conditon jump wp else next wp", COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT);
+        combo->addItem("On condition next wp", COMMAND_ONCONDITIONNEXTWAYPOINT);
+        combo->addItem("On NOT condition next wp", COMMAND_ONNOTCONDITIONNEXTWAYPOINT);
+        combo->addItem("On condition jump wp", COMMAND_ONCONDITIONJUMPWAYPOINT);
+        combo->addItem("On NOT condition jump wp", COMMAND_ONNOTCONDITIONJUMPWAYPOINT);
+        combo->addItem("On condition jump wp else next wp", COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT);
         break;
     default:
         break;