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    connect(rb_SelMag,       SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));

    // Wegpunkt-Befehl

void MKTool::slot_ac_SendWaypoint()

{

    if (Navi.Current.Longitude == 0 &&

        Navi.Current.Latitude == 0) {

        QMessageBox msgB;

        QString msg;

        msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");

        msgB.exec();

        return;

    }

    //erstelle einen Wegpunkt, den die NaviCtrl auswerten kann

    Waypoint_t desired_pos;

    bool ok_lat, ok_lon;

    //eingegebene Daten holen

    double desired_long, desired_lat;

    desired_long = le_LonValue->text().toDouble(&ok_lon);

    desired_lat = le_LatValue->text().toDouble(&ok_lat);

    if (ok_lon && desired_long < 100)

        desired_long *= 10000000+0.5;

    if (ok_lat && desired_lat < 100)

        desired_lat *= 10000000+0.5;

    //fülle Wegpunkt-Daten

    desired_pos.Position.Altitude= 0;

    desired_pos.Position.Longitude= int32_t(desired_long);

    desired_pos.Position.Latitude= int32_t(desired_lat);

    desired_pos.Position.Status = NEWDATA;

    desired_pos.Heading = -1;

    desired_pos.ToleranceRadius = 1;

    desired_pos.HoldTime = 60;

    desired_pos.Event_Flag = 0;

    desired_pos.reserve[0] = 0; // reserve

    desired_pos.reserve[1] = 0; // reserve

    desired_pos.reserve[2] = 0; // reserve

    desired_pos.reserve[3] = 0; // reserve

    //...und sende ihn an die NaviCtrl

    int max_radius = 10000;

    if (ok_lat && ok_lon &&

        abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&

        abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius) {

            send_Data('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);

    } else  {

        QMessageBox msgB;

        QString msg;

        msg += "Bitte die Eingabe ueberpruefen!\n";

        msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n";

        msg += "(Lon: ";

        msg += ToolBox::get_Float(Navi.Current.Longitude,10000000);

        msg += ", ";

        msg += "Lat: ";

        msg += ToolBox::get_Float(Navi.Current.Latitude,10000000);

        msg += ")";

        msgB.setText(msg);

        msgB.exec();

    }

}