Allows QGC plugins to be optional or custom

src/Vehicle/Vehicle.h

@@ -31,7 +31,6 @@ class UASInterface;
 class FirmwarePlugin;
 class FirmwarePluginManager;
 class AutoPilotPlugin;
-class AutoPilotPluginManager;
 class MissionManager;
 class GeoFenceManager;
 class RallyPointManager;
@@ -214,7 +213,6 @@ public:
             MAV_AUTOPILOT           firmwareType,
             MAV_TYPE                vehicleType,
             FirmwarePluginManager*  firmwarePluginManager,
-            AutoPilotPluginManager* autopilotPluginManager,
             JoystickManager*        joystickManager);
 
     // The following is used to create a disconnected Vehicle for use while offline editing.
@@ -579,6 +577,13 @@ public:
     /// @return true: X confiuration, false: Plus configuration
     bool xConfigMotors(void);
 
+    /// @return Firmware plugin instance data associated with this Vehicle
+    QObject* firmwarePluginInstanceData(void) { return _firmwarePluginInstanceData; }
+
+    /// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
+    /// and destroyed when the vehicle goes away.
+    void setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData);
+
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -717,6 +722,7 @@ private:
     MAV_AUTOPILOT       _firmwareType;
     MAV_TYPE            _vehicleType;
     FirmwarePlugin*     _firmwarePlugin;
+    QObject*            _firmwarePluginInstanceData;
     AutoPilotPlugin*    _autopilotPlugin;
     MAVLinkProtocol*    _mavlink;
     bool                _soloFirmware;
@@ -806,7 +812,6 @@ private:
 
     // Toolbox references
     FirmwarePluginManager*      _firmwarePluginManager;
-    AutoPilotPluginManager*     _autopilotPluginManager;
     JoystickManager*            _joystickManager;
 
     int                         _flowImageIndex;

src/comm/MockLink.cc

@@ -11,8 +11,9 @@
 #include "MockLink.h"
 #include "QGCLoggingCategory.h"
 #include "QGCApplication.h"
-#ifndef __mobile__
-#include "UnitTest.h"
+
+#ifdef UNITTEST_BUILD
+    #include "UnitTest.h"
 #endif
 
 #include <QTimer>
@@ -21,7 +22,8 @@
 
 #include <string.h>
 
-#include "px4_custom_mode.h"
+// FIXME: Hack to work around clean headers
+#include "FirmwarePlugin/PX4/px4_custom_mode.h"
 
 QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
 QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
@@ -1159,7 +1161,7 @@ void MockLink::_handleLogRequestData(const mavlink_message_t& msg)
     mavlink_msg_log_request_data_decode(&msg, &request);
 
     if (_logDownloadFilename.isEmpty()) {
-        #ifndef __mobile__
+        #ifdef UNITTEST_BUILD
         _logDownloadFilename = UnitTest::createRandomFile(_logDownloadFileSize);
         #endif
     }

src/main.cc

@@ -33,10 +33,11 @@
     #include "QGCSerialPortInfo.h"
 #endif
 
-#ifdef QT_DEBUG
-    #ifndef __mobile__
+#ifdef UNITTEST_BUILD
     #include "UnitTest.h"
-    #endif
+#endif
+
+#ifdef QT_DEBUG
     #include "CmdLineOptParser.h"
     #ifdef Q_OS_WIN
         #include <crtdbg.h>
@@ -229,8 +230,7 @@ int main(int argc, char *argv[])
 
     int exitCode = 0;
 
-#ifndef __mobile__
-#ifdef QT_DEBUG
+#ifdef UNITTEST_BUILD
     if (runUnitTests) {
         for (int i=0; i < (stressUnitTests ? 20 : 1); i++) {
             if (!app->_initForUnitTests()) {
@@ -249,7 +249,6 @@ int main(int argc, char *argv[])
             }
         }
     } else
-#endif
 #endif
     {
         if (!app->_initForNormalAppBoot()) {