Merge pull request #1613 from DonLakeFlyer/SetupQml

Setup view converted fully to single Qml view

QGCApplication.pro

@@ -546,9 +546,6 @@ INCLUDEPATH += \
     src/VehicleSetup \
     src/AutoPilotPlugins/PX4 \
 
-FORMS += \
-    src/VehicleSetup/SetupView.ui \
-
 HEADERS+= \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \

qgroundcontrol.qrc

@@ -43,6 +43,7 @@
         <file alias="ParameterEditorWidget.qml">src/ViewWidgets/ParameterEditorWidget.qml</file>
         <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
 
+        <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
         <file alias="SetupViewButtonsConnected.qml">src/VehicleSetup/SetupViewButtonsConnected.qml</file>
         <file alias="SetupViewButtonsDisconnected.qml">src/VehicleSetup/SetupViewButtonsDisconnected.qml</file>
 

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "AutoPilotPlugin.h"
-#include "SetupView.h"
 #include "QGCApplication.h"
 #include "QGCMessageBox.h"
 #include "MainWindow.h"
@@ -40,6 +39,8 @@ AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     Q_ASSERT(_uas);
 	
 	connect(_uas, &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
+    connect(_uas, &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
+
 	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
 }
 
@@ -66,12 +67,6 @@ void AutoPilotPlugin::_pluginReadyChanged(bool pluginReady)
 			Q_ASSERT(mainWindow);
 			mainWindow->getMainToolBar()->onSetupView();
 			qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-			QWidget* setupViewWidget = mainWindow->getCurrentViewWidget();
-			Q_ASSERT(setupViewWidget);
-			SetupView* setupView = qobject_cast<SetupView*>(setupViewWidget);
-			Q_ASSERT(setupView);
-			setupView->summaryButtonClicked();
-			qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
 		}
 	}
 }
@@ -172,3 +167,8 @@ void AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 {
 	_getParameterLoader()->readParametersFromStream(stream);
 }
+
+bool AutoPilotPlugin::armed(void)
+{
+    return _uas->isArmed();
+}

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -61,6 +61,8 @@ public:
 
 	/// false: One or more vehicle components require setup
 	Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
+    
+    Q_PROPERTY(bool armed READ armed NOTIFY armedChanged)
 	
     /// Re-request the full set of parameters from the autopilot
 	Q_INVOKABLE void refreshAllParameters(void);
@@ -111,6 +113,7 @@ public:
 	// Property accessors
 	bool pluginReady(void) { return _pluginReady; }
 	bool setupComplete(void);
+    bool armed(void);
 	
     UASInterface* uas(void) { return _uas; }
     
@@ -118,6 +121,7 @@ signals:
     void pluginReadyChanged(bool pluginReady);
 	void setupCompleteChanged(bool setupComplete);
     void parameterListProgress(float value);
+    void armedChanged(bool armed);
 	
 protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -171,16 +171,9 @@ QStringList AirframeComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* AirframeComponent::setupWidget(void) const
+QUrl AirframeComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-    
-    holder->setAutoPilot(_autopilot);
-    
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/AirframeComponent.qml"));
-    
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/AirframeComponent.qml");
 }
 
 QUrl AirframeComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -47,7 +47,7 @@ public:
     virtual bool requiresSetup(void) const;
     virtual bool setupComplete(void) const;
     virtual QString setupStateDescription(void) const;
-    virtual QWidget* setupWidget(void) const;
+    virtual QUrl setupSource(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;    
     virtual QString prerequisiteSetup(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -104,16 +104,9 @@ QStringList FlightModesComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* FlightModesComponent::setupWidget(void) const
+QUrl FlightModesComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-    
-    holder->setAutoPilot(_autopilot);
-    
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml"));
-    
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml");
 }
 
 QUrl FlightModesComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -47,7 +47,7 @@ public:
     virtual bool requiresSetup(void) const;
     virtual bool setupComplete(void) const;
     virtual QString setupStateDescription(void) const;
-    virtual QWidget* setupWidget(void) const;
+    virtual QUrl setupSource(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
     virtual QString prerequisiteSetup(void) const;

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -86,13 +86,9 @@ QStringList PowerComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* PowerComponent::setupWidget(void) const
+QUrl PowerComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-    holder->setAutoPilot(_autopilot);
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/PowerComponent.qml"));
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/PowerComponent.qml");
 }
 
 QUrl PowerComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/PowerComponent.h

@@ -47,7 +47,7 @@ public:
     virtual bool        requiresSetup           (void) const;
     virtual bool        setupComplete           (void) const;
     virtual QString     setupStateDescription   (void) const;
-    virtual QWidget*    setupWidget             (void) const;
+    virtual QUrl        setupSource             (void) const;
     virtual QStringList paramFilterList         (void) const;
     virtual QUrl        summaryQmlSource        (void) const;
     virtual QString     prerequisiteSetup       (void) const;

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -138,13 +138,9 @@ QStringList RadioComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* RadioComponent::setupWidget(void) const
+QUrl RadioComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-    holder->setAutoPilot(_autopilot);
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/RadioComponent.qml"));
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
 }
 
 QUrl RadioComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -48,7 +48,7 @@ public:
     virtual bool requiresSetup(void) const;
     virtual bool setupComplete(void) const;
     virtual QString setupStateDescription(void) const;
-    virtual QWidget* setupWidget(void) const;
+    virtual QUrl setupSource(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
     virtual QString prerequisiteSetup(void) const;

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -84,16 +84,9 @@ QStringList SafetyComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* SafetyComponent::setupWidget(void) const
+QUrl SafetyComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-
-    holder->setAutoPilot(_autopilot);
-
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/SafetyComponent.qml"));
-
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/SafetyComponent.qml");
 }
 
 QUrl SafetyComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/SafetyComponent.h

@@ -48,7 +48,7 @@ public:
     virtual bool requiresSetup(void) const;
     virtual bool setupComplete(void) const;
     virtual QString setupStateDescription(void) const;
-    virtual QWidget* setupWidget(void) const;
+    virtual QUrl setupSource(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
     virtual QString prerequisiteSetup(void) const;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -105,15 +105,9 @@ QStringList SensorsComponent::paramFilterList(void) const
     return list;
 }
 
-QWidget* SensorsComponent::setupWidget(void) const
+QUrl SensorsComponent::setupSource(void) const
 {
-    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
-    Q_CHECK_PTR(holder);
-    
-    holder->setAutoPilot(_autopilot);    
-    holder->setSource(QUrl::fromUserInput("qrc:/qml/SensorsComponent.qml"));
-    
-    return holder;
+    return QUrl::fromUserInput("qrc:/qml/SensorsComponent.qml");
 }
 
 QUrl SensorsComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -47,7 +47,7 @@ public:
     virtual bool requiresSetup(void) const;
     virtual bool setupComplete(void) const;
     virtual QString setupStateDescription(void) const;
-    virtual QWidget* setupWidget(void) const;
+    virtual QUrl setupSource(void) const;
     virtual QStringList paramFilterList(void) const;
     virtual QUrl summaryQmlSource(void) const;
     virtual QString prerequisiteSetup(void) const;

src/AutoPilotPlugins/PX4/SensorsComponent.qml

@@ -113,7 +113,8 @@ QGCView {
     property bool showCompass2Rot: cal_mag2_id.value > 0 && cal_mag2_rot.value >= 0
 
     SensorsComponentController {
-        id: controller
+        id:         controller
+        factPanel:  rootQGCView.viewPanel
 
         onResetStatusTextArea: statusLog.text = statusTextAreaDefaultText
 

src/FactSystem/FactSystem.cc

@@ -27,7 +27,6 @@
 #include "FactSystem.h"
 #include "UASManager.h"
 #include "QGCApplication.h"
-#include "VehicleComponent.h"
 #include "FactPanelController.h"
 
 #include <QtQml>
@@ -42,7 +41,6 @@ FactSystem::FactSystem(QObject* parent) :
     
     qmlRegisterType<Fact>(_factSystemQmlUri, 1, 0, "Fact");
     qmlRegisterType<FactPanelController>(_factSystemQmlUri, 1, 0, "FactPanelController");
-    qmlRegisterUncreatableType<VehicleComponent>(_factSystemQmlUri, 1, 0, "VehicleComponent", "Can only reference, cannot create");
 }
 
 FactSystem::~FactSystem()

src/QGCApplication.cc

@@ -67,6 +67,11 @@
 #include "SensorsComponentController.h"
 #include "PowerComponentController.h"
 #include "RadioComponentController.h"
+#ifndef __android__
+#include "FirmwareUpgradeController.h"
+#endif
+#include "AutoPilotPlugin.h"
+#include "VehicleComponent.h"
 
 #include "ScreenTools.h"
 #include "MavManager.h"
@@ -316,6 +321,9 @@ void QGCApplication::_initCommon(void)
     
     qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
     
+    qmlRegisterUncreatableType<AutoPilotPlugin>("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Can only reference, cannot create");
+    qmlRegisterUncreatableType<VehicleComponent>("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Can only reference, cannot create");
+    
 	qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
 	qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<CustomCommandWidgetController>("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
@@ -324,7 +332,10 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
     qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
     qmlRegisterType<RadioComponentController>("QGroundControl.Controllers", 1, 0, "RadioComponentController");
-    
+#ifndef __android__
+    qmlRegisterType<FirmwareUpgradeController>("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
+#endif
+
     //-- Create QML Singleton Interfaces
     qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
     qmlRegisterSingletonType<MavManager>("QGroundControl.MavManager", 1, 0, "MavManager", mavManagerSingletonFactory);
@@ -370,7 +381,7 @@ bool QGCApplication::_initForNormalAppBoot(void)
     splashScreen->finish(mainWindow);
     mainWindow->splashScreenFinished();
 
-    // Now that main window is upcheck for lost log files
+    // Now that main window is up check for lost log files
     connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();
 

src/QGCQmlWidgetHolder.cpp

@@ -53,7 +53,12 @@ void QGCQmlWidgetHolder::setContextPropertyObject(const QString& name, QObject*
     _ui.qmlWidget->rootContext()->setContextProperty(name, object);
 }
 
-QQmlContext* QGCQmlWidgetHolder::getRootContext()
+QQmlContext* QGCQmlWidgetHolder::getRootContext(void)
 {
     return _ui.qmlWidget->rootContext();
 }
+
+QQuickItem* QGCQmlWidgetHolder::getRootObject(void)
+{
+    return _ui.qmlWidget->rootObject();
+}

src/QGCQmlWidgetHolder.h

@@ -50,8 +50,11 @@ public:
     void setAutoPilot(AutoPilotPlugin* autoPilot);
 
     /// Get Root Context
-    QQmlContext* getRootContext();
+    QQmlContext* getRootContext(void);
 
+    /// Get Root Object
+    QQuickItem* getRootObject(void);
+    
     /// Sets the QML into the control. Will display errors message box if error occurs loading source.
     /// @return true: source loaded, false: source not loaded, errors occured
     bool setSource(const QUrl& qmlUrl);

src/QmlControls/QGCView.qml

@@ -40,6 +40,7 @@ FactPanel {
     property bool __completedSignalled: false
 
     property Component viewComponent
+    property var viewPanel: __viewPanelLoader.item
 
     /// This is signalled when the top level Item reaches Component.onCompleted. This allows
     /// the view subcomponent to connect to this signal and do work once the full ui is ready
@@ -123,7 +124,7 @@ FactPanel {
         __setupDialogButtons(buttons)
 
         __dialogComponent = component
-        __viewPanel.enabled = false
+        __viewPanelLoader.enabled = false
         __dialogOverlay.visible = true
 
         __animateShowDialog.start()
@@ -139,14 +140,14 @@ FactPanel {
         __setupDialogButtons(buttons)
 
         __dialogComponent = __messageDialog
-        __viewPanel.enabled = false
+        __viewPanelLoader.enabled = false
         __dialogOverlay.visible = true
 
         __animateShowDialog.start()
     }
 
     function hideDialog() {
-        __viewPanel.enabled = true
+        __viewPanelLoader.enabled = true
         __animateHideDialog.start()
     }
 
@@ -181,7 +182,7 @@ FactPanel {
     onHeightChanged:        __signalCompleted()
 
     Connections {
-        target: __viewPanel.item
+        target: __viewPanelLoader.item
 
         onShowDialog:   __rootItem.showDialog(component, title, charWidth, buttons)
         onShowMessage:  __rootItem.showMessage(title, message, buttons)
@@ -195,7 +196,7 @@ FactPanel {
     }
 
     Loader {
-        id:                 __viewPanel
+        id:                 __viewPanelLoader
         anchors.fill:       parent
         focus:              true
         sourceComponent:    viewComponent

src/QtLocationPlugin/qgeocodereplyqgc.cpp

@@ -51,6 +51,8 @@
 #include <QtPositioning/QGeoAddress>
 #include <QtPositioning/QGeoLocation>
 #include <QtPositioning/QGeoRectangle>
+#include <QSet>
+#include <QDebug>
 
 #include "qgeocodereplyqgc.h"
 

src/QtLocationPlugin/qgeocodingmanagerengineqgc.cpp

@@ -54,6 +54,7 @@
 #include <QtPositioning/QGeoAddress>
 #include <QtPositioning/QGeoShape>
 #include <QtPositioning/QGeoRectangle>
+#include <QDebug>
 
 #include "qgeocodingmanagerengineqgc.h"
 #include "qgeocodereplyqgc.h"

src/VehicleSetup/SetupView.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "SetupView.h"
-#include "ui_SetupView.h"
 
 #include "UASManager.h"
 #include "AutoPilotPluginManager.h"
@@ -43,26 +42,21 @@
 #include <QDebug>
 
 SetupView::SetupView(QWidget* parent) :
-    QWidget(parent),
+    QGCQmlWidgetHolder(parent),
     _uasCurrent(NULL),
     _initComplete(false),
-    _autoPilotPlugin(NULL),
-    _currentSetupWidget(NULL),
-    _ui(new Ui::SetupView)
+	_readyAutopilot(NULL)
 {
-    _ui->setupUi(this);
-
-    bool fSucceeded = connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
-    Q_UNUSED(fSucceeded);
-    Q_ASSERT(fSucceeded);
-    
-#ifndef __android__
-    qmlRegisterType<FirmwareUpgradeController>("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
+#ifdef __android__
+    _showFirmware = false;
+#else
+    _showFirmware = true;
 #endif
-	
-    _ui->buttonHolder->rootContext()->setContextProperty("controller", this);
-    _ui->buttonHolder->setAutoPilot(NULL);
-    _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml"));
+    
+    connect(UASManager::instance(), &UASManager::activeUASSet, this, &SetupView::_setActiveUAS);
+    
+    getRootContext()->setContextProperty("controller", this);
+    setSource(QUrl::fromUserInput("qrc:/qml/SetupView.qml"));
     
     _setActiveUAS(UASManager::instance()->getActiveUAS());
 }
@@ -75,8 +69,7 @@ SetupView::~SetupView()
 void SetupView::_setActiveUAS(UASInterface* uas)
 {
     if (_uasCurrent) {
-        Q_ASSERT(_autoPilotPlugin);
-        disconnect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
+        disconnect(_autopilot.data(), &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
     }
 
     _pluginReadyChanged(false);
@@ -84,98 +77,68 @@ void SetupView::_setActiveUAS(UASInterface* uas)
     _uasCurrent = uas;
     
     if (_uasCurrent) {
-        _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent).data();
-        _pluginReadyChanged(_autoPilotPlugin->pluginReady());
-        connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
+        _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent);
+        if (_autopilot.data()->pluginReady()) {
+            _pluginReadyChanged(_autopilot.data()->pluginReady());
+        }
+        connect(_autopilot.data(), &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
     }
 }
 
 void SetupView::_pluginReadyChanged(bool pluginReady)
 {
     if (pluginReady) {
-        _ui->buttonHolder->setAutoPilot(_autoPilotPlugin);
-        _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsConnected.qml"));
-        summaryButtonClicked();
-        QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("summaryButton");
-        Q_ASSERT(button);
-        button->setProperty("checked", true);
+        _readyAutopilot = _autopilot.data();
+        emit autopilotChanged(_readyAutopilot);
     } else {
-        _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml"));
-        _ui->buttonHolder->setAutoPilot(NULL);
-        firmwareButtonClicked();
-        QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("firmwareButton");
-        Q_ASSERT(button);
-        button->setProperty("checked", true);
+        _readyAutopilot = NULL;
+        emit autopilotChanged(NULL);
+        _autopilot.clear();
     }
 }
 
-void SetupView::_changeSetupWidget(QWidget* newWidget)
-{
-    if (_currentSetupWidget) {
-        delete _currentSetupWidget;
-    }
-    _currentSetupWidget = newWidget;
-    _ui->horizontalLayout->addWidget(newWidget);
-}
-
-void SetupView::firmwareButtonClicked(void)
+#ifdef UNITTEST_BUILD
+void SetupView::showFirmware(void)
 {
 #ifndef __android__
-    //FIXME: Hack out for android for now
-    if (_uasCurrent && _uasCurrent->isArmed()) {
-        QGCMessageBox::warning("Setup", "Firmware Update cannot be performed while vehicle is armed.");
-        return;
-    }
-
-    QGCQmlWidgetHolder* setup = new QGCQmlWidgetHolder;
-    Q_CHECK_PTR(setup);
-    
-    setup->setSource(QUrl::fromUserInput("qrc:/qml/FirmwareUpgrade.qml"));
-
-    _changeSetupWidget(setup);
+    QVariant returnedValue;
+    bool success = QMetaObject::invokeMethod(getRootObject(),
+                                             "showFirmwarePanel",
+                                             Q_RETURN_ARG(QVariant, returnedValue));
+    Q_ASSERT(success);
 #endif
 }
 
-void SetupView::parametersButtonClicked(void)
+void SetupView::showParameters(void)
 {
-	QGCQmlWidgetHolder* setup = new QGCQmlWidgetHolder;
-	Q_CHECK_PTR(setup);
-
-	Q_ASSERT(_autoPilotPlugin);
-	setup->setAutoPilot(_autoPilotPlugin);
-	setup->setSource(QUrl::fromUserInput("qrc:/qml/SetupParameterEditor.qml"));
-	
-	_changeSetupWidget(setup);
+    QVariant returnedValue;
+    bool success = QMetaObject::invokeMethod(getRootObject(),
+                                             "showParametersPanel",
+                                             Q_RETURN_ARG(QVariant, returnedValue));
+    Q_ASSERT(success);
 }
 
-void SetupView::summaryButtonClicked(void)
+void SetupView::showSummary(void)
 {
-    Q_ASSERT(_autoPilotPlugin);
-    
-    QGCQmlWidgetHolder* summary = new QGCQmlWidgetHolder;
-    Q_CHECK_PTR(summary);
-
-    summary->setAutoPilot(_autoPilotPlugin);
-    summary->setSource(QUrl::fromUserInput("qrc:/qml/VehicleSummary.qml"));
-
-    _changeSetupWidget(summary);
+    QVariant returnedValue;
+    bool success = QMetaObject::invokeMethod(getRootObject(),
+                                             "showSummaryPanel",
+                                             Q_RETURN_ARG(QVariant, returnedValue));
+    Q_ASSERT(success);
 }
 
-void SetupView::setupButtonClicked(const QVariant& component)
+void SetupView::showVehicleComponentSetup(VehicleComponent* vehicleComponent)
 {
-    if (_uasCurrent->isArmed()) {
-        QGCMessageBox::warning("Setup", "Setup cannot be performed while vehicle is armed.");
-        return;
-    }
-
-    VehicleComponent* vehicle = qobject_cast<VehicleComponent*>(component.value<QObject*>());
-    Q_ASSERT(vehicle);
-    
-    QString setupPrereq = vehicle->prerequisiteSetup();
-    if (!setupPrereq.isEmpty()) {
-        QGCMessageBox::warning("Setup", QString("%1 setup must be completed prior to %2 setup.").arg(setupPrereq).arg(vehicle->name()));
-        return;
-    }
-    
-    _changeSetupWidget(vehicle->setupWidget());
+    QVariant returnedValue;
+    bool success = QMetaObject::invokeMethod(getRootObject(),
+                                             "showVehicleComponentPanel",
+                                             Q_RETURN_ARG(QVariant, returnedValue),
+                                             Q_ARG(QVariant, QVariant::fromValue((VehicleComponent*)vehicleComponent)));
+    Q_ASSERT(success);
 }
+#endif
+
+AutoPilotPlugin* SetupView::autopilot(void)
+{
+    return _readyAutopilot;
+}
\ No newline at end of file

src/VehicleSetup/SetupView.h

@@ -27,6 +27,7 @@
 #include "UASInterface.h"
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
+#include "QGCQmlWidgetHolder.h"
 
 #include <QWidget>
 
@@ -34,11 +35,7 @@
 ///     @brief This class is used to display the UI for the VehicleComponent objects.
 ///     @author Don Gagne <don@thegagnes.com>
 
-namespace Ui {
-    class SetupView;
-}
-
-class SetupView : public QWidget
+class SetupView : public QGCQmlWidgetHolder
 {
     Q_OBJECT
 
@@ -46,24 +43,31 @@ public:
     explicit SetupView(QWidget* parent = 0);
     ~SetupView();
     
-    Q_INVOKABLE void firmwareButtonClicked(void);
-    Q_INVOKABLE void parametersButtonClicked(void);
-    Q_INVOKABLE void summaryButtonClicked(void);
-    Q_INVOKABLE void setupButtonClicked(const QVariant& component);
+    Q_PROPERTY(AutoPilotPlugin* autopilot READ autopilot NOTIFY autopilotChanged)
+    Q_PROPERTY (bool showFirmware MEMBER _showFirmware CONSTANT)
+    
+#ifdef UNITTEST_BUILD
+    void showFirmware(void);
+    void showParameters(void);
+    void showSummary(void);
+    void showVehicleComponentSetup(VehicleComponent* vehicleComponent);
+#endif
+    
+    AutoPilotPlugin* autopilot(void);
+    
+signals:
+    void autopilotChanged(AutoPilotPlugin* autopilot);
     
 private slots:
     void _setActiveUAS(UASInterface* uas);
     void _pluginReadyChanged(bool pluginReady);
 
 private:
-    void _changeSetupWidget(QWidget* newWidget);
-
-    UASInterface*       _uasCurrent;        ///< Currently active UAS
-    bool                _initComplete;      ///< true: parameters are ready and ui has been setup
-    AutoPilotPlugin*    _autoPilotPlugin;
-    QWidget*            _currentSetupWidget;
-    
-    Ui::SetupView* _ui;
+    UASInterface*                   _uasCurrent;
+    bool                            _initComplete;      ///< true: parameters are ready and ui has been setup
+    QSharedPointer<AutoPilotPlugin> _autopilot;         // Shared pointer to prevent shutdown ordering problems
+    AutoPilotPlugin*                _readyAutopilot;    // NULL if autopilot is not yet read
+    bool                            _showFirmware;
 };
 
 #endif

src/VehicleSetup/SetupView.qml

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+QGROUNDCONTROL is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+QGROUNDCONTROL is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/// @file
+///     @brief Setup View
+///     @author Don Gagne <don@thegagnes.com>
+
+import QtQuick 2.3
+import QtQuick.Controls 1.2
+
+import QGroundControl.AutoPilotPlugin 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+
+Rectangle {
+    id:     topLevel
+    color:  palette.window
+
+    QGCPalette { id: palette; colorGroupEnabled: true }
+
+    ExclusiveGroup { id: setupButtonGroup }
+
+    QGCLabel { id: _textMeasure; text: "X"; visible: false }
+
+    readonly property real defaultTextHeight:   _textMeasure.contentHeight
+    readonly property real defaultTextWidth:    _textMeasure.contentWidth
+    readonly property real buttonWidth:         defaultTextWidth * 15
+
+    property string messagePanelText:           "missing message panel text"
+    readonly property string armedVehicleText:  "This operation cannot be performed while vehicle is armed."
+
+    function showSummaryPanel()
+    {
+        if (controller.autopilot) {
+            panelLoader.source = "VehicleSummary.qml";
+        } else {
+            panelLoader.sourceComponent = disconnectedVehicleSummaryComponent
+        }
+    }
+
+    function showFirmwarePanel()
+    {
+        if (controller.showFirmware) {
+            if (controller.autopilot && controller.autopilot.armed) {
+                messagePanelText = armedVehicleText
+                panelLoader.sourceComponent = messagePanelComponent
+            } else {
+                panelLoader.source = "FirmwareUpgrade.qml";
+            }
+        }
+    }
+
+    function showParametersPanel()
+    {
+        panelLoader.source = "SetupParameterEditor.qml";
+    }
+
+    function showVehicleComponentPanel(vehicleComponent)
+    {
+        if (controller.autopilot.armed) {
+            messagePanelText = armedVehicleText
+            panelLoader.sourceComponent = messagePanelComponent
+        } else {
+            if (vehicleComponent.prerequisiteSetup != "") {
+                messagePanelText = vehicleComponent.prerequisiteSetup + " setup must be completed prior to " + vehicleComponent.name + " setup."
+                panelLoader.sourceComponent = messagePanelComponent
+            } else {
+                panelLoader.source = vehicleComponent.setupSource
+            }
+        }
+    }
+
+    Connections {
+        target: controller
+
+        onAutopilotChanged: {
+            summaryButton.checked = true
+            showSummaryPanel()
+        }
+    }
+
+    Component.onCompleted: showSummaryPanel()
+
+    Component {
+        id: disconnectedVehicleSummaryComponent
+
+        Rectangle {
+            color: palette.windowShade
+
+            QGCLabel {
+                anchors.margins:        defaultTextWidth * 2
+                anchors.fill:           parent
+                verticalAlignment:      Text.AlignVCenter
+                horizontalAlignment:    Text.AlignHCenter
+                wrapMode:               Text.WordWrap
+                font.pointSize:         ScreenTools.mediumFontPointSize
+                text:                   "Welcome to QGroundControl. " +
+                                            "QGroundControl supports any <font color=\"orange\"><a href=\"http://www.qgroundcontrol.org/mavlink/start\">mavlink</a></font> enabled vehicle. " +
+                                            "If you are using the <font color=\"orange\"><a href=\"https://pixhawk.org/choice\">PX4 Flight Stack</a></font>, you also get full support for setting up and calibrating your vehicle. "+
+                                            "Otherwise you will only get support for flying a vehicle which has been setup and calibrated using other means. " +
+                                            "Use the Connect button above to connect to your vehicle."
+
+                onLinkActivated: Qt.openUrlExternally(link)
+            }
+        }
+    }
+
+    Component {
+        id: messagePanelComponent
+
+        Item {
+            QGCLabel {
+                anchors.margins:        defaultTextWidth * 2
+                anchors.fill:           parent
+                verticalAlignment:      Text.AlignVCenter
+                horizontalAlignment:    Text.AlignHCenter
+                wrapMode:               Text.WordWrap
+                font.pointSize:         ScreenTools.mediumFontPointSize
+                text:                   messagePanelText
+            }
+        }
+    }
+
+    Column {
+        id:     buttonColumn
+        width:  buttonWidth
+
+        SubMenuButton {
+            id:             summaryButton
+            width:          buttonWidth
+            imageResource: "VehicleSummaryIcon.png"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            text:           "SUMMARY"
+
+            onClicked: showSummaryPanel()
+        }
+
+        SubMenuButton {
+            id:             firmwareButton
+            width:          buttonWidth
+            imageResource:  "FirmwareUpgradeIcon.png"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            visible:        controller.showFirmware
+            text:           "FIRMWARE"
+
+            onClicked: showFirmwarePanel()
+        }
+
+        Repeater {
+            model: controller.autopilot ? controller.autopilot.vehicleComponents : 0
+
+            SubMenuButton {
+                width:          buttonWidth
+                imageResource:  modelData.iconResource
+                setupComplete:  modelData.setupComplete
+                exclusiveGroup: setupButtonGroup
+                text:           modelData.name.toUpperCase()
+
+                onClicked: showVehicleComponentPanel(modelData)
+            }
+        }
+
+        SubMenuButton {
+            width:          buttonWidth
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            visible:        controller.autopilot
+            text:           "PARAMETERS"
+
+            onClicked: showParametersPanel()
+        }
+    } // Column
+
+    Loader {
+        id:                     panelLoader
+        anchors.leftMargin:     defaultTextWidth
+        anchors.rightMargin:    defaultTextWidth
+        anchors.left:           buttonColumn.right
+        anchors.right:          parent.right
+        anchors.top:            parent.top
+        anchors.bottom:         parent.bottom
+
+        property var autopilot: controller.autopilot
+    }
+}

src/VehicleSetup/SetupView.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>SetupView</class>
- <widget class="QWidget" name="SetupView">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>946</width>
-    <height>821</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
-      <property name="leftMargin">
-          <number>0</number>
-      </property>
-      <property name="topMargin">
-          <number>0</number>
-      </property>
-      <property name="rightMargin">
-          <number>0</number>
-      </property>
-      <property name="bottomMargin">
-          <number>0</number>
-      </property>
-   <item>
-    <widget class="QGCQuickWidget" name="buttonHolder">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>125</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>125</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="resizeMode">
-      <enum>QGCQuickWidget::SizeRootObjectToView</enum>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <customwidgets>
-     <customwidget>
-         <class>QGCQuickWidget</class>
-         <extends>QQuickWidget</extends>
-         <header>QGCQuickWidget.h</header>
-         <container>1</container>
-     </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>

src/VehicleSetup/SetupViewTest.cc

@@ -92,16 +92,22 @@ void SetupViewTest::_clickThrough_test(void)
     Q_ASSERT(setupView);
 
     // Click through fixed buttons
-    setupView->firmwareButtonClicked();
+    qDebug() << "Showing firmware";
+    setupView->showFirmware();
     QTest::qWait(1000);
-    setupView->parametersButtonClicked();
+    qDebug() << "Showing parameters";
+    setupView->showParameters();
     QTest::qWait(1000);
-    setupView->summaryButtonClicked();
+    qDebug() << "Showing summary";
+    setupView->showSummary();
     QTest::qWait(1000);
     
     const QVariantList& components = autopilot->vehicleComponents();
     foreach(QVariant varComponent, components) {
-        setupView->setupButtonClicked(varComponent);
+        VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(varComponent));
+        qDebug() << "Showing" << component->name();
+        setupView->showVehicleComponentSetup(component);
+        QTest::qWait(1000);
     }
 
     // On MainWindow close we should get a message box telling the user to disconnect first. Disconnect will then pop

src/VehicleSetup/VehicleComponent.h

@@ -48,7 +48,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(bool setupComplete READ setupComplete STORED false NOTIFY setupCompleteChanged)
     Q_PROPERTY(QString setupStateDescription READ setupStateDescription STORED false)
     Q_PROPERTY(QString iconResource READ iconResource CONSTANT)
-    Q_PROPERTY(QWidget* setupWidget READ setupWidget STORED false)
+    Q_PROPERTY(QUrl setupSource READ setupSource CONSTANT)
     Q_PROPERTY(QUrl summaryQmlSource READ summaryQmlSource CONSTANT);
     Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
     
@@ -62,7 +62,7 @@ public:
     virtual bool requiresSetup(void) const = 0;
     virtual bool setupComplete(void) const = 0;
     virtual QString setupStateDescription(void) const = 0;
-    virtual QWidget* setupWidget(void) const = 0;
+    virtual QUrl setupSource(void) const = 0;
     virtual QStringList paramFilterList(void) const = 0;
     virtual QUrl summaryQmlSource(void) const = 0;
     virtual QString prerequisiteSetup(void) const = 0;

src/VehicleSetup/VehicleSummary.qml

@@ -58,11 +58,13 @@ Rectangle {
         QGCLabel {
             width:			parent.width
 			wrapMode:		Text.WordWrap
-			color:			autopilot.setupComplete ? qgcPal.text : "red"
-            font.pointSize: autopilot.setupComplete ? ScreenTools.defaultFontPointSize : ScreenTools.fontPointFactor * (20)
-			text: autopilot.setupComplete ?
-                        "Below you will find a summary of the settings for your vehicle. To the left are the setup menus for each component." :
-                        "WARNING: Your vehicle requires setup prior to flight. Please resolve the items marked in red using the menu on the left."
+			color:			setupComplete ? qgcPal.text : "red"
+            font.pointSize: setupComplete ? ScreenTools.defaultFontPointSize : ScreenTools.fontPointFactor * (20)
+			text:           setupComplete ?
+                                "Below you will find a summary of the settings for your vehicle. To the left are the setup menus for each component." :
+                                "WARNING: Your vehicle requires setup prior to flight. Please resolve the items marked in red using the menu on the left."
+
+            property bool setupComplete: autopilot && autopilot.setupComplete
         }
 
         Item {
@@ -76,7 +78,7 @@ Rectangle {
             spacing: 10
 
             Repeater {
-                model: autopilot.vehicleComponents
+                model: autopilot ? autopilot.vehicleComponents : 0
 
                 // Outer summary item rectangle
                 Rectangle {

src/uas/UASInterface.h

@@ -444,8 +444,6 @@ signals:
     void dropRateChanged(int systemId,  float receiveDrop);
     /** @brief Robot mode has changed */
     void modeChanged(int sysId, QString status, QString description);
-    /** @brief Robot armed state has changed */
-    void armingChanged(int sysId, QString armingState);
     /** @brief A command has been issued **/
     void commandSent(int command);
     /** @brief The robot is connecting **/

src/ui/MainWindow.cc

@@ -683,23 +683,6 @@ void MainWindow::loadSettings()
     _fontFactor     = settings.value("FONT_SIZE_FACTOR",    _fontFactor).toDouble();
     _pixelFactor    = settings.value("PIXEL_SIZE_FACTOR",   _pixelFactor).toDouble();
     settings.endGroup();
-    // Select the proper view. Default to the flight view or load the last one used if it's supported.
-    VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", _currentView).toInt();
-    switch (currentViewCandidate) {
-        case VIEW_ANALYZE:
-        case VIEW_PLAN:
-        case VIEW_EXPERIMENTAL_PLAN:
-        case VIEW_FLIGHT:
-        case VIEW_SIMULATION:
-        case VIEW_SETUP:
-            _currentView = currentViewCandidate;
-            break;
-        default:
-            // Leave _currentView to the default
-            break;
-    }
-    // Put it back, which will set it to a valid value
-    settings.setValue("CURRENT_VIEW", _currentView);
 }
 
 void MainWindow::storeSettings()