Move parameter apis to Vehicle

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -52,7 +52,7 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        return _autopilot->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
+        return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
     } else {
         return true;
     }

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -609,16 +609,15 @@ void APMCompassCal::startCalibration(void)
     connect(_calWorkerThread, &CalWorkerThread::vehicleTextMessage, this, &APMCompassCal::vehicleTextMessage);
 
     // Clear the offset parameters so we get raw data
-    AutoPilotPlugin* plugin = _vehicle->autopilotPlugin();
     for (int i=0; i<3; i++) {
         _calWorkerThread->rgCompassAvailable[i] = true;
 
         const char* deviceIdParam = CalWorkerThread::rgCompassParams[i][3];
-        if (plugin->parameterExists(-1, deviceIdParam)) {
-            _calWorkerThread->rgCompassAvailable[i] = plugin->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
+        if (_vehicle->parameterExists(-1, deviceIdParam)) {
+            _calWorkerThread->rgCompassAvailable[i] = _vehicle->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
             for (int j=0; j<3; j++) {
                 const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-                Fact* paramFact = plugin->getParameterFact(-1, offsetParam);
+                Fact* paramFact = _vehicle->getParameterFact(-1, offsetParam);
 
                 _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat();
                 paramFact->setRawValue(0.0);
@@ -637,12 +636,11 @@ void APMCompassCal::cancelCalibration(void)
     _stopCalibration();
 
     // Put the original offsets back
-    AutoPilotPlugin* plugin = _vehicle->autopilotPlugin();
     for (int i=0; i<3; i++) {
         for (int j=0; j<3; j++) {
             const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-            if (plugin->parameterExists(-1, offsetParam)) {
-                plugin->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
+            if (_vehicle->parameterExists(-1, offsetParam)) {
+                _vehicle->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
             }
         }
     }

src/AutoPilotPlugins/APM/APMPowerComponent.cc

@@ -40,7 +40,7 @@ bool APMPowerComponent::requiresSetup(void) const
 
 bool APMPowerComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
 }
 
 QStringList APMPowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -19,7 +19,7 @@ APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilo
     _mapParams << QStringLiteral("RCMAP_ROLL") << QStringLiteral("RCMAP_PITCH") << QStringLiteral("RCMAP_YAW") << QStringLiteral("RCMAP_THROTTLE");
 
     foreach (const QString& mapParam, _mapParams) {
-        Fact* fact = _autopilot->getParameterFact(-1, mapParam);
+        Fact* fact = _vehicle->getParameterFact(-1, mapParam);
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }
 
@@ -56,7 +56,7 @@ bool APMRadioComponent::setupComplete(void) const
 
     // First check for all attitude controls mapped
     for (int i=0; i<_mapParams.count(); i++) {
-        mapValues << _autopilot->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
+        mapValues << _vehicle->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
         if (mapValues[i] <= 0) {
             return false;
         }
@@ -64,14 +64,14 @@ bool APMRadioComponent::setupComplete(void) const
 
     // Next check RC#_MIN/MAX/TRIM all at defaults
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _autopilot->getParameterFact(-1, mapParam)->rawValue().toInt();
-        if (_autopilot->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
+        int channel = _vehicle->getParameterFact(-1, mapParam)->rawValue().toInt();
+        if (_vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
             return true;
         }
-        if (_autopilot->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
+        if (_vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
             return true;
         }
-        if (_autopilot->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
+        if (_vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
             return true;
         }
     }
@@ -116,17 +116,17 @@ void APMRadioComponent::_connectSetupTriggers(void)
 
     // Get the channels for attitude controls and connect to those values for triggers
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
+        int channel = _vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
 
-        Fact* fact = _autopilot->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
+        Fact* fact = _vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _autopilot->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
+        fact = _vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _autopilot->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
+        fact = _vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -62,7 +62,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
     // Accelerometer triggers
     triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
 
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         triggers << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
         triggers << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
         triggers << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
@@ -108,10 +108,10 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
     rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
 
     for (size_t i=0; i<cCompass; i++) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
-            _autopilot->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
+            _vehicle->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
             for (size_t j=0; j<cOffset; j++) {
-                if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }
@@ -133,7 +133,7 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     rgOffsets.clear();
 
     // This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
 
         // We have usage information for the remaining accels, so we can test them sa well
@@ -147,9 +147,9 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     }
 
     for (int i=0; i<rgAccels.count(); i++) {
-        if (rgUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
+        if (rgUse.count() == 0 || _vehicle->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
             for (int j=0; j<rgAccels[0].count(); j++) {
-                if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -60,7 +60,7 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
             // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
-            if (_autopilot->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
+            if (_vehicle->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
                 qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentCopter.qml");
             }
             break;

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -117,16 +117,6 @@ void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& na
     _vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
 }
 
-bool AutoPilotPlugin::parameterExists(int componentId, const QString& name) const
-{
-    return _vehicle->getParameterLoader()->parameterExists(componentId, name);
-}
-
-Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
-{
-    return _vehicle->getParameterLoader()->getFact(componentId, name);
-}
-
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -7,131 +7,119 @@
  *
  ****************************************************************************/
 
+#ifndef AUTOPILOTPLUGIN_H
+#define AUTOPILOTPLUGIN_H
 
-    /// @file
-    ///     @author Don Gagne <don@thegagnes.com>
+#include <QObject>
+#include <QList>
+#include <QString>
+#include <QQmlContext>
 
-    #ifndef AUTOPILOTPLUGIN_H
-    #define AUTOPILOTPLUGIN_H
+#include "VehicleComponent.h"
+#include "FactSystem.h"
+#include "Vehicle.h"
 
-    #include <QObject>
-    #include <QList>
-    #include <QString>
-    #include <QQmlContext>
+class ParameterLoader;
+class Vehicle;
+class FirmwarePlugin;
 
-    #include "VehicleComponent.h"
-    #include "FactSystem.h"
-    #include "Vehicle.h"
+/// This is the base class for AutoPilot plugins
+///
+/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
+/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
+/// code should reside in QGroundControl. The remainder of the QGroundControl source is
+/// generic to a common mavlink implementation.
 
-    class ParameterLoader;
-    class Vehicle;
-    class FirmwarePlugin;
+class AutoPilotPlugin : public QObject
+{
+    Q_OBJECT
 
-    /// This is the base class for AutoPilot plugins
-    ///
-    /// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
-    /// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
-    /// code should reside in QGroundControl. The remainder of the QGroundControl source is
-    /// generic to a common mavlink implementation.
+public:
+    AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
+    ~AutoPilotPlugin();
 
-    class AutoPilotPlugin : public QObject
-    {
-        Q_OBJECT
+    /// true: parameters are ready for use
+    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
 
-    public:
-        AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
-        ~AutoPilotPlugin();
+    /// true: parameters are missing from firmware response, false: all parameters received from firmware
+    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
 
-        /// true: parameters are ready for use
-        Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
+    /// List of VehicleComponent objects
+    Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
 
-        /// true: parameters are missing from firmware response, false: all parameters received from firmware
-        Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
+    /// false: One or more vehicle components require setup
+    Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
 
-        /// List of VehicleComponent objects
-        Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
+    /// Reset all parameters to their default values
+    Q_INVOKABLE void resetAllParametersToDefaults(void);
 
-        /// false: One or more vehicle components require setup
-        Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
+    /// Re-request the full set of parameters from the autopilot
+    Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
 
-        /// Reset all parameters to their default values
-        Q_INVOKABLE void resetAllParametersToDefaults(void);
+    /// Request a refresh on the specific parameter
+    Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
 
-        /// Re-request the full set of parameters from the autopilot
-        Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
+    /// Request a refresh on all parameters that begin with the specified prefix
+    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
 
-        /// Request a refresh on the specific parameter
-        Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
+    /// Returns all parameter names
+    QStringList parameterNames(int componentId);
 
-        /// Request a refresh on all parameters that begin with the specified prefix
-        Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
+    /// Writes the parameter facts to the specified stream
+    void writeParametersToStream(QTextStream &stream);
 
-        /// Returns true if the specifed parameter exists from the default component
-        Q_INVOKABLE bool parameterExists(int componentId, const QString& name) const;
+    /// Reads the parameters from the stream and updates values
+    /// @return Errors during load. Empty string for no errors
+    QString readParametersFromStream(QTextStream &stream);
 
-        /// Returns all parameter names
-        QStringList parameterNames(int componentId);
+    /// Returns true if the specifed fact exists
+    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
+                                int                     componentId,    ///< fact component, -1=default component
+                                const QString&          name);          ///< fact name
 
-        /// Returns the specified parameter Fact from the default component
-        /// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
-        /// parameterExists.
-        Fact* getParameterFact(int componentId, const QString& name);
+    /// Returns the specified Fact.
+    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
+    /// factExists.
+    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
+                  int                       componentId,    ///< fact component, -1=default component
+                  const QString&            name);          ///< fact name
 
-        /// Writes the parameter facts to the specified stream
-        void writeParametersToStream(QTextStream &stream);
+    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
 
-        /// Reads the parameters from the stream and updates values
-        /// @return Errors during load. Empty string for no errors
-        QString readParametersFromStream(QTextStream &stream);
+    // Must be implemented by derived class
+    virtual const QVariantList& vehicleComponents(void) = 0;
 
-        /// Returns true if the specifed fact exists
-        Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
-                                    int                     componentId,    ///< fact component, -1=default component
-                                    const QString&          name);          ///< fact name
+    // Property accessors
+    bool parametersReady(void) { return _parametersReady; }
+    bool missingParameters(void) { return _missingParameters; }
+    bool setupComplete(void);
 
-        /// Returns the specified Fact.
-        /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
-        /// factExists.
-        Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
-                      int                       componentId,    ///< fact component, -1=default component
-                      const QString&            name);          ///< fact name
+    Vehicle* vehicle(void) { return _vehicle; }
+    virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
 
-        const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+signals:
+    void parametersReadyChanged(bool parametersReady);
+    void missingParametersChanged(bool missingParameters);
+    void setupCompleteChanged(bool setupComplete);
+    void parameterListProgress(float value);
 
-        // Must be implemented by derived class
-        virtual const QVariantList& vehicleComponents(void) = 0;
+protected:
+    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
+    AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
 
-        // Property accessors
-        bool parametersReady(void) { return _parametersReady; }
-        bool missingParameters(void) { return _missingParameters; }
-        bool setupComplete(void);
+    Vehicle*        _vehicle;
+    FirmwarePlugin* _firmwarePlugin;
+    bool            _parametersReady;
+    bool            _missingParameters;
+    bool            _setupComplete;
 
-        Vehicle* vehicle(void) { return _vehicle; }
-        virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
 
-    signals:
-        void parametersReadyChanged(bool parametersReady);
-        void missingParametersChanged(bool missingParameters);
-        void setupCompleteChanged(bool setupComplete);
-        void parameterListProgress(float value);
+private slots:
+    void _uasDisconnected(void);
+    void _parametersReadyChanged(bool parametersReady);
 
-    protected:
-        /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
-        AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
+private:
+    void _recalcSetupComplete(void);
+};
 
-        Vehicle*        _vehicle;
-        FirmwarePlugin* _firmwarePlugin;
-        bool            _parametersReady;
-        bool            _missingParameters;
-        bool            _setupComplete;
-
-
-    private slots:
-        void _uasDisconnected(void);
-        void _parametersReadyChanged(bool parametersReady);
-
-    private:
-        void _recalcSetupComplete(void);
-    };
-
-    #endif
+#endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -129,7 +129,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 }
 
 QStringList AirframeComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,17 +43,17 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         return true;
     }
 
-    if (_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
-            (_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+    if (_vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+            (_vehicle->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
         return true;
     }
 
@@ -81,7 +81,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         // No RC input
         return QString();
     } else {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -117,8 +117,8 @@ void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
     // Check for older parameter version set
     // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
     // should be used instead.
-    if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
-            parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
+            _vehicle->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
         _incorrectParameterVersion = true;
         qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");

src/AutoPilotPlugins/PX4/PX4RadioComponent.cc

@@ -35,18 +35,18 @@ QString PX4RadioComponent::iconResource(void) const
 
 bool PX4RadioComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool PX4RadioComponent::setupComplete(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         // The best we can do to detect the need for a radio calibration is look for attitude
         // controls to be mapped.
         QStringList attitudeMappings;
         attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
         foreach(const QString &mapParam, attitudeMappings) {
-            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
+            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
                 return false;
             }
         }
@@ -76,7 +76,7 @@ QUrl PX4RadioComponent::summaryQmlSource(void) const
 
 QString PX4RadioComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
         
         if (!plugin->airframeComponent()->setupComplete()) {

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -44,9 +44,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
+        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
+        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
 }
 
 QStringList PowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -49,14 +49,14 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach (const QString &triggerParam, _deviceIds) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
             return false;
         }
     }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
-            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
+            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
                 return false;
             }
         }

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -306,9 +306,9 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
                 // Work out what the autopilot is configured to
                 int sides = 0;
 
-                if (_autopilot->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
+                if (_vehicle->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
                     // Read the requested calibration directions off the system
-                    sides = _autopilot->getParameterFact(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
+                    sides = _vehicle->getParameterFact(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
                 } else {
                     // There is no valid setting, default to all six sides
                     sides = (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2) | (1 << 1) | (1 << 0);

src/FactSystem/FactControls/FactPanelController.cc

@@ -31,6 +31,8 @@ FactPanelController::FactPanelController(bool standaloneUnitTesting)
     if (_vehicle) {
         _uas = _vehicle->uas();
         _autopilot = _vehicle->autopilotPlugin();
+    } else {
+        _vehicle = qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle();
     }
 
     if (!standaloneUnitTesting) {
@@ -102,7 +104,7 @@ bool FactPanelController::_allParametersExists(int componentId, QStringList name
     bool noMissingFacts = true;
 
     foreach (const QString &name, names) {
-        if (_autopilot && !_autopilot->parameterExists(componentId, name)) {
+        if (_vehicle && !_vehicle->parameterExists(componentId, name)) {
             _reportMissingParameter(componentId, name);
             noMissingFacts = false;
         }
@@ -120,8 +122,8 @@ void FactPanelController::_checkForMissingFactPanel(void)
 
 Fact* FactPanelController::getParameterFact(int componentId, const QString& name, bool reportMissing)
 {
-    if (_autopilot && _autopilot->parameterExists(componentId, name)) {
-        Fact* fact = _autopilot->getParameterFact(componentId, name);
+    if (_vehicle && _vehicle->parameterExists(componentId, name)) {
+        Fact* fact = _vehicle->getParameterFact(componentId, name);
         QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
         return fact;
     } else {
@@ -133,7 +135,7 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
 
 bool FactPanelController::parameterExists(int componentId, const QString& name)
 {
-    return _autopilot ? _autopilot->parameterExists(componentId, name) : false;
+    return _vehicle ? _vehicle->parameterExists(componentId, name) : false;
 }
 
 void FactPanelController::_showInternalError(const QString& errorMsg)

src/FactSystem/FactSystemTestBase.cc

@@ -96,7 +96,7 @@ void FactSystemTestBase::_qmlUpdate_test(void)
     // Change the value
 
     QVariant paramValue = 12;
-    _plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
+    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
 
     QTest::qWait(500); // Let the signals flow through
 

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -210,7 +210,7 @@ bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
 {
-    return vehicle->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
+    return vehicle->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
 QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)

src/FlightMap/Widgets/ValuesWidget.qml

@@ -30,7 +30,7 @@ QGCFlickable {
     property color  textColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
 
     QGCPalette { id:qgcPal; colorGroupEnabled: true }

src/FlightMap/Widgets/VibrationWidget.qml

@@ -29,7 +29,7 @@ QGCFlickable {
     property color  backgroundColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
     property real   _barWidth:      Math.round(ScreenTools.defaultFontPixelWidth * 3)
 

src/QmlControls/ParameterEditorController.cc

@@ -68,7 +68,7 @@ QStringList ParameterEditorController::searchParametersForComponent(int componen
         if (searchText.isEmpty()) {
             list += paramName;
         } else {
-            Fact* fact = _autopilot->getParameterFact(componentId, paramName);
+            Fact* fact = _vehicle->getParameterFact(componentId, paramName);
             
             if (searchInName && fact->name().contains(searchText, Qt::CaseInsensitive)) {
                 list += paramName;
@@ -189,11 +189,11 @@ void ParameterEditorController::_updateParameters(void)
     if (_searchText.isEmpty()) {
         const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
         foreach (const QString& parameter, groupMap[_currentComponentId][_currentGroup]) {
-            newParameterList.append(_autopilot->getParameterFact(_currentComponentId, parameter));
+            newParameterList.append(_vehicle->getParameterFact(_currentComponentId, parameter));
         }
     } else {
         foreach(const QString &parameter, _autopilot->parameterNames(_vehicle->defaultComponentId())) {
-            Fact* fact = _autopilot->getParameterFact(_vehicle->defaultComponentId(), parameter);
+            Fact* fact = _vehicle->getParameterFact(_vehicle->defaultComponentId(), parameter);
             if (fact->name().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->shortDescription().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->longDescription().contains(_searchText, Qt::CaseInsensitive)) {

src/VehicleSetup/VehicleComponent.cc

@@ -49,8 +49,8 @@ void VehicleComponent::setupTriggerSignals(void)
 {
     // Watch for changed on trigger list params
     foreach (const QString &paramName, setupCompleteChangedTriggerList()) {
-        if (_autopilot->parameterExists(FactSystem::defaultComponentId, paramName)) {
-            Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
+        if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) {
+            Fact* fact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName);
             connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
         }
     }

src/qgcunittest/RadioConfigTest.cc

@@ -378,7 +378,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
                     switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
 
                     foreach (const QString &switchParam, switchList) {
-                        Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
+                        Q_ASSERT(_vehicle->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
                     }
                 }
                 
@@ -393,7 +393,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
         if (!found) {
             const char* paramName = _functionInfo()[function].parameterName;
             if (paramName) {
-                _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+                _rgFunctionChannelMap[function] = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
                 qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
                 if (_rgFunctionChannelMap[function] == 0) {
                     _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
@@ -469,8 +469,8 @@ void RadioConfigTest::_validateParameters(void)
         
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
-            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
-            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
+            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
         }
     }
 
@@ -485,13 +485,13 @@ void RadioConfigTest::_validateParameters(void)
         int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
         bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
 
-        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMinActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMaxActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcTrimActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
+        float rcReversedFloat = _vehicle->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
         QCOMPARE(convertOk, true);
         bool rcReversedActual = (rcReversedFloat == -1.0f);
         
@@ -515,7 +515,7 @@ void RadioConfigTest::_validateParameters(void)
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
             // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
-            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
+            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
         }
     }
 }

src/ui/QGCMapRCToParamDialog.cpp

@@ -30,9 +30,8 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->setupUi(this);
 
     // refresh the parameter from onboard to make sure the current value is used
-    AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin();
-    Q_ASSERT(autopilot);
-    Fact* paramFact = autopilot->getParameterFact(FactSystem::defaultComponentId, param_id);
+    Vehicle* vehicle = _multiVehicleManager->getVehicleById(mav->getUASID());
+    Fact* paramFact = vehicle->getParameterFact(FactSystem::defaultComponentId, param_id);
     
     ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
     ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
@@ -44,7 +43,7 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->paramIdLabel->setText(param_id);
 
     connect(paramFact, &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
-    autopilot->refreshParameter(FactSystem::defaultComponentId, param_id);
+    vehicle->autopilotPlugin()->refreshParameter(FactSystem::defaultComponentId, param_id);
 }
 
 QGCMapRCToParamDialog::~QGCMapRCToParamDialog()