New Joystick config, new Joystick control classes

QGCApplication.pro

@@ -142,6 +142,7 @@ INCLUDEPATH += \
     src/comm \
     src/FlightDisplay \
     src/input \
+    src/Joystick \
     src/lib/qmapcontrol \
     src/QmlControls \
     src/uas \
@@ -214,9 +215,6 @@ FORMS += \
 
 !MobileBuild {
 FORMS += \
-    src/ui/JoystickButton.ui \
-    src/ui/JoystickAxis.ui \
-    src/ui/JoystickWidget.ui \
     src/ui/QGCHilConfiguration.ui \
     src/ui/QGCHilFlightGearConfiguration.ui \
     src/ui/QGCHilJSBSimConfiguration.ui \
@@ -242,6 +240,8 @@ HEADERS += \
     src/FlightDisplay/FlightDisplayView.h \
     src/GAudioOutput.h \
     src/HomePositionManager.h \
+    src/Joystick/Joystick.h \
+    src/Joystick/JoystickManager.h \
     src/LogCompressor.h \
     src/MG.h \
     src/QGC.h \
@@ -352,15 +352,12 @@ HEADERS += \
     src/comm/QGCHilLink.h \
     src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
-    src/input/JoystickInput.h \
     src/ui/CameraView.h \
-    src/ui/JoystickAxis.h \
-    src/ui/JoystickButton.h \
-    src/ui/JoystickWidget.h \
     src/ui/QGCHilConfiguration.h \
     src/ui/QGCHilFlightGearConfiguration.h \
     src/ui/QGCHilJSBSimConfiguration.h \
     src/ui/QGCHilXPlaneConfiguration.h \
+    src/VehicleSetup/JoystickConfigController.h \
 }
 
 SOURCES += \
@@ -379,6 +376,8 @@ SOURCES += \
     src/FlightDisplay/FlightDisplayView.cc \
     src/GAudioOutput.cc \
     src/HomePositionManager.cc \
+    src/Joystick/Joystick.cc \
+    src/Joystick/JoystickManager.cc \
     src/LogCompressor.cc \
     src/main.cc \
     src/QGC.cc \
@@ -482,15 +481,12 @@ SOURCES += \
     src/comm/QGCFlightGearLink.cc \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
-    src/input/JoystickInput.cc \
     src/ui/CameraView.cc \
-    src/ui/JoystickAxis.cc \
-    src/ui/JoystickButton.cc \
-    src/ui/JoystickWidget.cc \
     src/ui/QGCHilConfiguration.cc \
     src/ui/QGCHilFlightGearConfiguration.cc \
     src/ui/QGCHilJSBSimConfiguration.cc \
     src/ui/QGCHilXPlaneConfiguration.cc \
+    src/VehicleSetup/JoystickConfigController.cc \
 }
 
 #

qgroundcontrol.qrc

@@ -99,15 +99,16 @@
         <file alias="QGroundControl/Controls/MissionItemIndexLabel.qml">src/QmlControls/MissionItemIndexLabel.qml</file>
         <file alias="QGroundControl/Controls/MissionItemSummary.qml">src/QmlControls/MissionItemSummary.qml</file>
 
-        <file alias="ScreenToolsFontQuery.qml">src/QmlControls/ScreenToolsFontQuery.qml</file>
-        <file alias="ParameterEditorWidget.qml">src/ViewWidgets/ParameterEditorWidget.qml</file>
-        <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
+        <!-- Vehicle Setup -->
         <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>
         <file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
         <file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
+        <file alias="JoystickConfig.qml">src/VehicleSetup/JoystickConfig.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
+
+        <file alias="ScreenToolsFontQuery.qml">src/QmlControls/ScreenToolsFontQuery.qml</file>
+        <file alias="ParameterEditorWidget.qml">src/ViewWidgets/ParameterEditorWidget.qml</file>
+        <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
@@ -222,6 +223,7 @@
         <file alias="accel_up.png">resources/calibration/accel_up.png</file>
         <file alias="accel_left.png">resources/calibration/accel_left.png</file>
     </qresource>
+
     <qresource prefix="/qml/calibration/mode1">
         <file alias="radioCenter.png">resources/calibration/mode1/radioCenter.png</file>
         <file alias="radioHome.png">resources/calibration/mode1/radioHome.png</file>
@@ -235,6 +237,7 @@
         <file alias="radioThrottleDown.png">resources/calibration/mode1/radioThrottleDown.png</file>
         <file alias="radioSwitchMinMax.png">resources/calibration/mode1/radioSwitchMinMax.png</file>
     </qresource>
+
     <qresource prefix="/qml/calibration/mode2">
         <file alias="radioCenter.png">resources/calibration/mode2/radioCenter.png</file>
         <file alias="radioHome.png">resources/calibration/mode2/radioHome.png</file>
@@ -248,6 +251,19 @@
         <file alias="radioThrottleDown.png">resources/calibration/mode2/radioThrottleDown.png</file>
         <file alias="radioSwitchMinMax.png">resources/calibration/mode2/radioSwitchMinMax.png</file>
     </qresource>
+
+    <qresource prefix="/qml/calibration/joystick">
+        <file alias="joystickCenter.png">resources/calibration/joystick/joystickCenter.png</file>
+        <file alias="joystickRollLeft.png">resources/calibration/joystick/joystickRollLeft.png</file>
+        <file alias="joystickRollRight.png">resources/calibration/joystick/joystickRollRight.png</file>
+        <file alias="joystickPitchUp.png">resources/calibration/joystick/joystickPitchUp.png</file>
+        <file alias="joystickPitchDown.png">resources/calibration/joystick/joystickPitchDown.png</file>
+        <file alias="joystickYawLeft.png">resources/calibration/joystick/joystickYawLeft.png</file>
+        <file alias="joystickYawRight.png">resources/calibration/joystick/joystickYawRight.png</file>
+        <file alias="joystickThrottleUp.png">resources/calibration/joystick/joystickThrottleUp.png</file>
+        <file alias="joystickThrottleDown.png">resources/calibration/joystick/joystickThrottleDown.png</file>
+    </qresource>
+
     <qresource prefix="/res/styles">
         <file alias="style-dark.css">resources/styles/style-dark.css</file>
         <file alias="style-light.css">resources/styles/style-light.css</file>

src/AutoPilotPlugins/PX4/RadioComponent.qml

@@ -50,6 +50,9 @@ QGCView {
     function updateChannelCount()
     {
         if (controllerAndViewReady) {
+            if (joystickManager.activeJoystick && joystickManager.activeJoystick.enabled) {
+                showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
+            }
 /*
             FIXME: Turned off for now, since it prevents binding. Need to restructure to
             allow binding and still check channel count
@@ -128,6 +131,14 @@ QGCView {
             }
         }
 
+        Component {
+            id: joystickEnabledDialogComponent
+
+            QGCViewMessage {
+                message: "Radio Config is disabled since you have a Joystick enabled."
+            }
+        }
+
         Component {
             id: spektrumBindDialogComponent
 

src/FirmwarePlugin/FirmwarePlugin.h

@@ -76,6 +76,12 @@ public:
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
     
+    /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
+    /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
+    /// The remainder can be assigned to Vehicle actions.
+    /// @return -1: reserver all buttons, >0 number of buttons to reserve
+    virtual int manualControlReservedButtonCount(void) = 0;
+    
 protected:
     FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
 };

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -89,3 +89,10 @@ bool GenericFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* ba
     
     return false;
 }
+
+int GenericFirmwarePlugin::manualControlReservedButtonCount(void)
+{
+    // We don't know whether the firmware is going to used any of these buttons.
+    // So reserve them all.
+    return -1;
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -43,6 +43,7 @@ public:
     virtual QStringList flightModes(void) { return QStringList(); }
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
+    virtual int manualControlReservedButtonCount(void);
     
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -176,3 +176,8 @@ bool PX4FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_m
     
     return found;
 }
+
+int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
+{
+    return 8;   // 8 buttons reserved for rc switch simulation
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -43,6 +43,7 @@ public:
     virtual QStringList flightModes(void);
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
+    virtual int manualControlReservedButtonCount(void);
     
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance

src/Joystick/Joystick.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef Joystick_H
+#define Joystick_H
+
+#include <QObject>
+#include <QThread>
+
+#include "QGCLoggingCategory.h"
+#include "Vehicle.h"
+
+Q_DECLARE_LOGGING_CATEGORY(JoystickLog)
+
+class Joystick : public QThread
+{
+    Q_OBJECT
+    
+public:
+    Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex);
+    ~Joystick();
+    
+    typedef struct {
+        int     min;
+        int     max;
+        int     center;
+        bool    reversed;
+    } Calibration_t;
+    
+    typedef enum {
+        rollFunction,
+        pitchFunction,
+        yawFunction,
+        throttleFunction,
+        maxFunction
+    } AxisFunction_t;
+    
+    typedef enum {
+        ThrottleModeCenterZero,
+        ThrottleModeDownZero,
+        ThrottleModeMax
+    } ThrottleMode_t;
+    
+    Q_PROPERTY(QString name READ name CONSTANT)
+    
+    Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
+    Q_PROPERTY(bool enabled READ enabled WRITE setEnabled NOTIFY enabledChanged)
+    
+    Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
+    Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
+    
+    Q_PROPERTY(QStringList actions READ actions CONSTANT)
+    
+    Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
+    Q_INVOKABLE void setButtonAction(int button, int action);
+    Q_INVOKABLE int getButtonAction(int button);
+    
+    Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
+    
+    /// Start the polling thread which will in turn emit joystick signals
+    void startPolling(void);
+    void stopPolling(void);
+    
+    void setCalibration(int axis, Calibration_t& calibration);
+    Calibration_t getCalibration(int axis);
+    
+    void setFunctionAxis(AxisFunction_t function, int axis);
+    int getFunctionAxis(AxisFunction_t function);
+    
+    QStringList actions(void);
+    QVariantList buttonActions(void);
+    
+    QString name(void) { return _name; }
+    
+    int throttleMode(void);
+    void setThrottleMode(int mode);
+    
+    bool enabled(void);
+    void setEnabled(bool enabled);
+    
+    bool calibrating(void) { return _calibrating; }
+    void setCalibrating(bool calibrating) { _calibrating = calibrating; }
+    
+signals:
+    void calibratedChanged(bool calibrated);
+    
+    // The raw signals are only meant for use by calibration
+    void rawAxisValueChanged(int index, int value);
+    void rawButtonPressedChanged(int index, int pressed);
+    
+    void buttonActionsChanged(QVariantList actions);
+    
+    void throttleModeChanged(int mode);
+    
+    void enabledChanged(bool enabled);
+    
+    /// Signal containing new joystick information
+    ///     @param roll     Range is -1:1, negative meaning roll left, positive meaning roll right
+    ///     @param pitch    Range i -1:1, negative meaning pitch down, positive meaning pitch up
+    ///     @param yaw      Range is -1:1, negative meaning yaw left, positive meaning yaw right
+    ///     @param throttle Range is 0:1, 0 meaning no throttle, 1 meaning full throttle
+    ///     @param mode     See Vehicle::JoystickMode_t enum
+    void manualControl(float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
+    
+    void buttonActionTriggered(int action);
+    
+private:
+    void _saveSettings(void);
+    void _loadSettings(void);
+    float _adjustRange(int value, Calibration_t calibration);
+    
+    // Override from QThread
+    virtual void run(void);
+
+private:
+    int     _sdlIndex;      ///< Index for SDL_JoystickOpen
+    
+    bool    _exitThread;    ///< true: signal thread to exit
+    
+    QString _name;
+    bool    _enabled;
+    bool    _calibrated;
+    bool    _calibrating;
+    int     _axisCount;
+    int     _buttonCount;
+    
+    static const int    _cAxes = 4;
+    int                 _rgAxisValues[_cAxes];
+    Calibration_t       _rgCalibration[_cAxes];
+    int                 _rgFunctionAxis[maxFunction];
+    static const char*  _rgFunctionSettingsKey[maxFunction];
+    
+    static const int    _cButtons = 12;
+    int                 _rgButtonValues[_cButtons];
+    int                 _rgButtonActions[_cButtons];
+    quint16             _lastButtonBits;
+    
+    ThrottleMode_t      _throttleMode;
+    
+    static const char* _settingsGroup;
+    static const char* _calibratedSettingsKey;
+    static const char* _buttonActionSettingsKey;
+    static const char* _throttleModeSettingsKey;
+    static const char* _enabledSettingsKey;
+};
+    
+#endif

src/Joystick/JoystickManager.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#include "JoystickManager.h"
+
+#include <QQmlEngine>
+
+#ifdef Q_OS_MAC
+    #include <SDL.h>
+#else
+    #include <SDL/SDL.h>
+#endif
+
+QGC_LOGGING_CATEGORY(JoystickManagerLog, "JoystickManagerLog")
+
+IMPLEMENT_QGC_SINGLETON(JoystickManager, JoystickManager)
+
+const char * JoystickManager::_settingsGroup =              "JoystickManager";
+const char * JoystickManager::_settingsKeyActiveJoystick =  "ActiveJoystick";
+
+JoystickManager::JoystickManager(QObject* parent)
+    : QGCSingleton(parent)
+    , _activeJoystick(NULL)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    
+    if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
+        qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
+        return;
+    }
+    
+    // Load available joysticks
+    
+    qCDebug(JoystickManagerLog) << "Available joysticks";
+    
+    for (int i=0; i<SDL_NumJoysticks(); i++) {
+        QString name = SDL_JoystickName(i);
+        
+        if (!_name2JoystickMap.contains(name)) {
+            int axisCount, buttonCount;
+            
+            SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
+            axisCount = SDL_JoystickNumAxes(sdlJoystick);
+            buttonCount = SDL_JoystickNumButtons(sdlJoystick);
+            SDL_JoystickClose(sdlJoystick);
+
+            qCDebug(JoystickManagerLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount;
+            _name2JoystickMap[name] = new Joystick(name, axisCount, buttonCount, i);
+        } else {
+            qCDebug(JoystickManagerLog) << "\tSkipping duplicate" << name;
+        }
+    }
+    
+    if (!_name2JoystickMap.count()) {
+        qCDebug(JoystickManagerLog) << "\tnone found";
+        return;
+    }
+    
+    _setActiveJoystickFromSettings();
+}
+
+JoystickManager::~JoystickManager()
+{
+
+}
+
+void JoystickManager::_setActiveJoystickFromSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    QString name = settings.value(_settingsKeyActiveJoystick).toString();
+    
+    if (name.isEmpty()) {
+        name = _name2JoystickMap.first()->name();
+    }
+    
+    setActiveJoystick(_name2JoystickMap.value(name, _name2JoystickMap.first()));
+    settings.setValue(_settingsKeyActiveJoystick, _activeJoystick->name());
+}
+
+Joystick* JoystickManager::activeJoystick(void)
+{
+    return _activeJoystick;
+}
+
+void JoystickManager::setActiveJoystick(Joystick* joystick)
+{
+    QSettings settings;
+    
+    if (!_name2JoystickMap.contains(joystick->name())) {
+        qCWarning(JoystickManagerLog) << "Set active not in map" << joystick->name();
+        return;
+    }
+    
+    if (_activeJoystick) {
+        _activeJoystick->stopPolling();
+    }
+    
+    _activeJoystick = joystick;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.setValue(_settingsKeyActiveJoystick, _activeJoystick->name());
+    
+    emit activeJoystickChanged(_activeJoystick);
+    emit activeJoystickNameChanged(_activeJoystick->name());
+}
+
+QVariantList JoystickManager::joysticks(void)
+{
+    QVariantList list;
+    
+    foreach (QString name, _name2JoystickMap.keys()) {
+        list += QVariant::fromValue(_name2JoystickMap[name]);
+    }
+    
+    return list;
+}
+
+QStringList JoystickManager::joystickNames(void)
+{
+    return _name2JoystickMap.keys();
+}
+
+QString JoystickManager::activeJoystickName(void)
+{
+    return _activeJoystick ? _activeJoystick->name() : QString();
+}
+
+void JoystickManager::setActiveJoystickName(const QString& name)
+{
+    if (!_name2JoystickMap.contains(name)) {
+        qCWarning(JoystickManagerLog) << "Set active not in map" << name;
+        return;
+    }
+    
+    setActiveJoystick(_name2JoystickMap[name]);
+}

src/Joystick/JoystickManager.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef JoystickManager_H
+#define JoystickManager_H
+
+#include "QGCSingleton.h"
+#include "QGCLoggingCategory.h"
+#include "Joystick.h"
+
+#include <QVariantList>
+
+Q_DECLARE_LOGGING_CATEGORY(JoystickManagerLog)
+
+class JoystickManager : public QGCSingleton
+{
+    Q_OBJECT
+    
+    DECLARE_QGC_SINGLETON(JoystickManager, JoystickManager)
+
+public:
+    /// List of available joysticks
+    Q_PROPERTY(QVariantList joysticks READ joysticks CONSTANT)
+    Q_PROPERTY(QStringList  joystickNames READ joystickNames CONSTANT)
+    
+    /// Active joystick
+    Q_PROPERTY(Joystick* activeJoystick READ activeJoystick WRITE setActiveJoystick NOTIFY activeJoystickChanged)
+    Q_PROPERTY(QString activeJoystickName READ activeJoystickName WRITE setActiveJoystickName NOTIFY activeJoystickNameChanged)
+    
+    QVariantList joysticks();
+    QStringList joystickNames(void);
+    
+    Joystick* activeJoystick(void);
+    void setActiveJoystick(Joystick* joystick);
+    
+    QString activeJoystickName(void);
+    void setActiveJoystickName(const QString& name);
+
+signals:
+    void activeJoystickChanged(Joystick* joystick);
+    void activeJoystickNameChanged(const QString& name);
+
+private slots:
+    
+private:
+    /// All access to singleton is through JoystickManager::instance
+    JoystickManager(QObject* parent = NULL);
+    ~JoystickManager();
+    
+    void _setActiveJoystickFromSettings(void);
+    
+private:
+    Joystick*   _activeJoystick;
+    
+    QMap<QString, Joystick*>    _name2JoystickMap;
+    
+    static const char * _settingsGroup;
+    static const char * _settingsKeyActiveJoystick;
+};
+
+#endif

src/QGCApplication.cc

@@ -89,6 +89,8 @@ G_END_DECLS
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
+#include "JoystickManager.h"
+#include "JoystickConfigController.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -327,16 +329,19 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<AutoPilotPlugin>("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Can only reference, cannot create");
     qmlRegisterUncreatableType<VehicleComponent>("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Can only reference, cannot create");
     qmlRegisterUncreatableType<Vehicle>("QGroundControl.Vehicle", 1, 0, "Vehicle", "Can only reference, cannot create");
+    qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", "Reference only");
+    qmlRegisterUncreatableType<Joystick>        ("QGroundControl.JoystickManager", 1, 0, "Joystick",        "Reference only");
     
-    qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
-    qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
-    qmlRegisterType<CustomCommandWidgetController>("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
-    qmlRegisterType<FlightModesComponentController>("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
-    qmlRegisterType<AirframeComponentController>("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
-    qmlRegisterType<SensorsComponentController>("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
-    qmlRegisterType<PowerComponentController>("QGroundControl.Controllers", 1, 0, "PowerComponentController");
-    qmlRegisterType<RadioComponentController>("QGroundControl.Controllers", 1, 0, "RadioComponentController");
-    qmlRegisterType<ScreenToolsController>("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
+    qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
+    qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
+    qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
+    qmlRegisterType<FlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
+    qmlRegisterType<AirframeComponentController>    ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
+    qmlRegisterType<SensorsComponentController>     ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
+    qmlRegisterType<PowerComponentController>       ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
+    qmlRegisterType<RadioComponentController>       ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
+    qmlRegisterType<ScreenToolsController>          ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
+    qmlRegisterType<JoystickConfigController>       ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
     
 #ifndef __mobile__
     qmlRegisterType<FirmwareUpgradeController>("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
@@ -576,6 +581,11 @@ void QGCApplication::_createSingletons(void)
     Q_UNUSED(multiVehicleManager);
     Q_ASSERT(multiVehicleManager);
     
+    // No dependencies
+    JoystickManager* joystickManager = JoystickManager::_createSingleton();
+    Q_UNUSED(joystickManager);
+    Q_ASSERT(joystickManager);
+    
     // No dependencies
     GAudioOutput* audio = GAudioOutput::_createSingleton();
     Q_UNUSED(audio);
@@ -636,6 +646,7 @@ void QGCApplication::_destroySingletons(void)
     HomePositionManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
     GAudioOutput::_deleteSingleton();
+    JoystickManager::_deleteSingleton();
     MultiVehicleManager::_deleteSingleton();
     FirmwarePluginManager::_deleteSingleton();
     GenericFirmwarePlugin::_deleteSingleton();

src/QGCQuickWidget.cc

@@ -25,6 +25,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCMessageBox.h"
 #include "MultiVehicleManager.h"
+#include "JoystickManager.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -40,6 +41,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
 {
     rootContext()->engine()->addImportPath("qrc:/qml");
     rootContext()->setContextProperty("multiVehicleManager", MultiVehicleManager::instance());
+    rootContext()->setContextProperty("joystickManager", JoystickManager::instance());
 }
 
 void QGCQuickWidget::setAutoPilot(AutoPilotPlugin* autoPilot)

src/Vehicle/MultiVehicleManager.cc

@@ -26,6 +26,9 @@
 
 #include "MultiVehicleManager.h"
 #include "AutoPilotPlugin.h"
+#include "JoystickManager.h"
+#include "MAVLinkProtocol.h"
+#include "UAS.h"
 
 IMPLEMENT_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
 
@@ -107,6 +110,15 @@ void MultiVehicleManager::_deleteVehiclePhase1(void)
         qWarning() << "Vehicle not found in map!";
     }
     
+    // Disconnect the vehicle from the uas
+    vehicle->uas()->clearVehicle();
+    
+    // Disconnect joystick
+    Joystick* joystick = JoystickManager::instance()->activeJoystick();
+    if (joystick) {
+        joystick->stopPolling();
+    }
+    
     // First we must signal that a vehicle is no longer available.
     _activeVehicleAvailable = false;
     _parameterReadyVehicleAvailable = false;
@@ -150,6 +162,12 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
 {
     if (vehicle != _activeVehicle) {
         if (_activeVehicle) {
+            // Disconnect joystick
+            Joystick* joystick = JoystickManager::instance()->activeJoystick();
+            if (joystick) {
+                joystick->stopPolling();
+            }
+                
             // The sequence of signals is very important in order to not leave Qml elements connected
             // to a non-existent vehicle.
             
@@ -195,6 +213,12 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
     }
     
     if (autopilot->vehicle() == _activeVehicle) {
+        // Connect joystick
+        Joystick* joystick = JoystickManager::instance()->activeJoystick();
+        if (joystick && joystick->enabled()) {
+            joystick->startPolling();
+        }
+        
         _parameterReadyVehicleAvailable = pluginReady;
         emit parameterReadyVehicleAvailableChanged(pluginReady);
     }

src/Vehicle/Vehicle.cc

@@ -28,6 +28,7 @@
 #include "FirmwarePlugin.h"
 #include "AutoPilotPluginManager.h"
 #include "UASMessageHandler.h"
+#include "UAS.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -35,9 +36,15 @@ QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 #define DEFAULT_LAT  38.965767f
 #define DEFAULT_LON -120.083923f
 
+const char* Vehicle::_settingsGroup =           "Vehicle%1";   // %1 replace with mavlink system id
+const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
+
 Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     : _id(vehicleId)
     , _firmwareType(firmwareType)
+    , _firmwarePlugin(NULL)
+    , _autopilotPlugin(NULL)
+    , _joystickMode(JoystickModeRC)
     , _uas(NULL)
     , _mav(NULL)
     , _currentMessageCount(0)
@@ -74,6 +81,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     , _wpm(NULL)
     , _updateCount(0)
 {
+    _loadSettings();
+    
     _addLink(link);
     
     connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
@@ -809,3 +818,57 @@ void Vehicle::resetMessages()
         emit messageTypeChanged();
     }
 }
+
+int Vehicle::manualControlReservedButtonCount(void)
+{
+    return _firmwarePlugin->manualControlReservedButtonCount();
+}
+
+void Vehicle::_loadSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(QString(_settingsGroup).arg(_id));
+    
+    bool convertOk;
+    
+    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
+    if (!convertOk) {
+        _joystickMode = JoystickModeRC;
+    }
+}
+
+void Vehicle::_saveSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(QString(_settingsGroup).arg(_id));
+    
+    settings.setValue(_joystickModeSettingsKey, _joystickMode);
+}
+
+int Vehicle::joystickMode(void)
+{
+    return _joystickMode;
+}
+
+void Vehicle::setJoystickMode(int mode)
+{
+    if (mode < 0 || mode >= JoystickModeMax) {
+        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
+        return;
+    }
+    
+    _joystickMode = (JoystickMode_t)mode;
+    _saveSettings();
+    emit joystickModeChanged(mode);
+}
+
+QStringList Vehicle::joystickModes(void)
+{
+    QStringList list;
+    
+    list << "Simulate RC" << "Attitude" << "Position" << "Force" << "Velocity";
+    
+    return list;
+}

src/Vehicle/Vehicle.h

@@ -29,13 +29,17 @@
 
 #include <QObject>
 #include <QGeoCoordinate>
+#include <QQmlListProperty>
 
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
-#include "UAS.h"
+#include "MissionItem.h"
 
+class UAS;
+class UASInterface;
 class FirmwarePlugin;
 class AutoPilotPlugin;
+class UASWaypointManager;
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -91,6 +95,30 @@ public:
     //-- MissionItem management
     Q_PROPERTY(QQmlListProperty<MissionItem> missionItems READ missionItems NOTIFY missionItemsChanged)
     
+    /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
+    /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
+    /// The remainder can be assigned to Vehicle actions.
+    /// @return -1: reserver all buttons, >0 number of buttons to reserve
+    Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
+    
+    typedef enum {
+        JoystickModeRC,         ///< Joystick emulates am RC Transmitter
+        JoystickModeAttitude,
+        JoystickModePosition,
+        JoystickModeForce,
+        JoystickModeVelocity,
+        JoystickModeMax
+    } JoystickMode_t;
+    
+    /// The joystick mode associated with this vehicle. Joystick modes are stored keyed by mavlink system id.
+    Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged)
+    int joystickMode(void);
+    void setJoystickMode(int mode);
+    
+    /// List of joystick mode names
+    Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
+    QStringList joystickModes(void);
+    
     // Property accesors
     int id(void) { return _id; }
     MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
@@ -106,6 +134,8 @@ public:
     
     QList<LinkInterface*> links(void);
     
+    int manualControlReservedButtonCount(void);
+    
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -171,6 +201,7 @@ public slots:
 signals:
     void allLinksDisconnected(void);
     void coordinateChanged(QGeoCoordinate coordinate);
+    void joystickModeChanged(int mode);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
@@ -241,6 +272,9 @@ private slots:
 private:
     bool _containsLink(LinkInterface* link);
     void _addLink(LinkInterface* link);
+    void _loadSettings(void);
+    void _saveSettings(void);
+    
     bool    _isAirplane                     ();
     void    _addChange                      (int id);
     float   _oneDecimal                     (float value);
@@ -257,6 +291,8 @@ private:
     /// This way Link deletion works correctly.
     QList<SharedLinkInterface> _links;
     
+    JoystickMode_t  _joystickMode;
+    
     UAS* _uas;
     
     QGeoCoordinate  _geoCoordinate;
@@ -302,5 +338,8 @@ private:
     UASWaypointManager* _wpm;
     int             _updateCount;
     QList<MissionItem*>_waypoints;
+    
+    static const char* _settingsGroup;
+    static const char* _joystickModeSettingsKey;
 };
 #endif

src/VehicleSetup/SetupView.qml

@@ -72,6 +72,16 @@ Rectangle {
         }
     }
 
+    function showJoystickPanel()
+    {
+        if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
+            messagePanelText = armedVehicleText
+            panelLoader.sourceComponent = messagePanelComponent
+        } else {
+            panelLoader.source = "JoystickConfig.qml";
+        }
+    }
+
     function showParametersPanel()
     {
         panelLoader.source = "SetupParameterEditor.qml";
@@ -170,6 +180,18 @@ Rectangle {
             onClicked: showFirmwarePanel()
         }
 
+        SubMenuButton {
+            id:             joystickButton
+            width:          buttonWidth
+            setupIndicator: true
+            setupComplete:  joystickManager.activeJoystick.calibrated
+            exclusiveGroup: setupButtonGroup
+            visible:        multiVehicleManager.parameterReadyVehicleAvailable && joystickManager.joysticks.length != 0
+            text:           "JOYSTICK"
+
+            onClicked: showJoystickPanel()
+        }
+
         Repeater {
             model: multiVehicleManager.parameterReadyVehicleAvailable ? multiVehicleManager.activeVehicle.autopilot.vehicleComponents : 0
 

src/VehicleSetup/SetupViewButtonsConnected.qml

-import QtQuick 2.3
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
-import QtGraphicalEffects 1.0
-
-import QGroundControl.FactSystem 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-
-Rectangle {
-    id: topLevel
-
-    QGCPalette { id: palette; colorGroupEnabled: true }
-    color: palette.window
-
-    ExclusiveGroup { id: setupButtonGroup }
-
-    Column {
-        anchors.fill: parent
-
-        SubMenuButton {
-            id: summaryButton; objectName: "summaryButton"
-            width: parent.width
-            text: "SUMMARY"
-            imageResource: "VehicleSummaryIcon.png"
-            setupIndicator: false
-            exclusiveGroup: setupButtonGroup
-            onClicked: controller.summaryButtonClicked()
-        }
-
-        SubMenuButton {
-            id: firmwareButton; objectName: "firmwareButton"
-            width: parent.width
-            text: "FIRMWARE"
-            imageResource: "FirmwareUpgradeIcon.png"
-            setupIndicator: false
-            exclusiveGroup: setupButtonGroup
-            onClicked: controller.firmwareButtonClicked()
-        }
-
-        Repeater {
-            model: autopilot ? autopilot.vehicleComponents : 0
-
-            SubMenuButton {
-                width: parent.width
-                text: modelData.name.toUpperCase()
-                imageResource: modelData.iconResource
-                setupComplete: modelData.setupComplete
-                exclusiveGroup: setupButtonGroup
-                onClicked: controller.setupButtonClicked(modelData)
-            }
-        }
-
-        SubMenuButton {
-            width: parent.width
-            text: "PARAMETERS"
-            setupIndicator: false
-            exclusiveGroup: setupButtonGroup
-            onClicked: controller.parametersButtonClicked()
-        }
-    }
-}

src/VehicleSetup/SetupViewButtonsDisconnected.qml

-import QtQuick 2.3
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
-import QtGraphicalEffects 1.0
-
-import QGroundControl.FactSystem 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-
-Rectangle {
-    id: topLevel
-
-    QGCPalette { id: palette; colorGroupEnabled: true }
-    color: palette.window
-
-    ExclusiveGroup { id: setupButtonGroup }
-
-    Column {
-        anchors.fill: parent
-
-        SubMenuButton {
-            id: firmwareButton; objectName: "firmwareButton"
-            width: parent.width
-            text: "FIRMWARE"
-            imageResource: "FirmwareUpgradeIcon.png"
-            setupIndicator: false
-            exclusiveGroup: setupButtonGroup
-            onClicked: controller.firmwareButtonClicked()
-        }
-
-        Item { width: parent.width; height: 10 }    // spacer
-
-        QGCLabel {
-            width: parent.width
-            text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading."
-            wrapMode: Text.WordWrap
-            horizontalAlignment: Text.AlignHCenter
-        }
-    }
-}

src/ViewWidgets/CustomCommandWidgetController.cc

@@ -25,6 +25,7 @@
 #include "MultiVehicleManager.h"
 #include "QGCMAVLink.h"
 #include "QGCFileDialog.h"
+#include "UAS.h"
 
 #include <QSettings>
 #include <QUrl>

src/ViewWidgets/ViewWidgetController.cc

@@ -23,6 +23,7 @@
 
 #include "ViewWidgetController.h"
 #include "MultiVehicleManager.h"
+#include "UAS.h"
 
 ViewWidgetController::ViewWidgetController(void) :
 	_autopilot(NULL),

src/qgcunittest/FileManagerTest.cc

@@ -26,6 +26,7 @@
 
 #include "FileManagerTest.h"
 #include "MultiVehicleManager.h"
+#include "UAS.h"
 
 //UT_REGISTER_TEST(FileManagerTest)
 

src/uas/UAS.h

@@ -37,8 +37,9 @@ This file is part of the QGROUNDCONTROL project
 #include <QVector3D>
 #include "QGCMAVLink.h"
 #include "FileManager.h"
+#include "Vehicle.h"
+
 #ifndef __mobile__
-#include "JoystickInput.h"
 #include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
 #include "QGCJSBSimLink.h"
@@ -110,6 +111,8 @@ public:
     Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed)
     Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
 
+    void clearVehicle(void) { _vehicle = NULL; }
+    
     void setGroundSpeed(double val)
     {
         groundSpeed = val;
@@ -847,7 +850,7 @@ public slots:
 
     /** @brief Set the values for the manual control of the vehicle */
 #ifndef __mobile__
-    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, quint8);
+    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
 #endif
 
     /** @brief Set the values for the 6dof manual control of the vehicle */

src/uas/UASMessageHandler.cc

@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCApplication.h"
 #include "UASMessageHandler.h"
 #include "MultiVehicleManager.h"
+#include "UAS.h"
 
 UASMessage::UASMessage(int componentid, int severity, QString text)
 {

src/ui/HDDisplay.cc

@@ -18,14 +18,17 @@
 #include <QMouseEvent>
 #include <QMenu>
 #include <QSettings>
+#include <QDebug>
+
 #include <qmath.h>
+
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
 #include "MG.h"
 #include "QGC.h"
 #include "QGCApplication.h"
-#include <QDebug>
 #include "MultiVehicleManager.h"
+#include "UAS.h"
 
 HDDisplay::HDDisplay(const QStringList &plotList, QString title, QWidget *parent) :
     QGraphicsView(parent),

src/ui/HSIDisplay.cc

@@ -46,6 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include <qmath.h>
 #include "MAV2DIcon.h"
 #include "QGCApplication.h"
+#include "UAS.h"
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
     HDDisplay(QStringList(), "HSI", parent),

src/ui/JoystickAxis.cc

-#include "JoystickAxis.h"
-#include "JoystickInput.h"
-#include "ui_JoystickAxis.h"
-#include "MultiVehicleManager.h"
-#include <QString>
-
-JoystickAxis::JoystickAxis(int id, QWidget *parent) :
-    QWidget(parent),
-    id(id),
-    ui(new Ui::JoystickAxis)
-{
-    ui->setupUi(this);
-    mappingComboBoxChanged(JoystickInput::JOYSTICK_INPUT_MAPPING_NONE);
-    ui->label->setText(QString::number(id));
-    connect(ui->comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(mappingComboBoxChanged(int)));
-    connect(ui->invertedCheckBox, SIGNAL(clicked(bool)), this, SLOT(inversionCheckBoxChanged(bool)));
-    connect(ui->rangeCheckBox, SIGNAL(clicked(bool)), this, SLOT(rangeCheckBoxChanged(bool)));
-}
-
-JoystickAxis::~JoystickAxis()
-{
-    delete ui;
-}
-
-void JoystickAxis::setValue(float value)
-{
-    ui->progressBar->setValue(100.0f * value);
-}
-
-void JoystickAxis::setMapping(JoystickInput::JOYSTICK_INPUT_MAPPING newMapping)
-{
-    ui->comboBox->setCurrentIndex(newMapping);
-    if (newMapping == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
-    {
-        ui->rangeCheckBox->show();
-    }
-    else
-    {
-        ui->rangeCheckBox->hide();
-    }
-    this->activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
-}
-
-void JoystickAxis::setInverted(bool newValue)
-{
-    ui->invertedCheckBox->setChecked(newValue);
-}
-
-void JoystickAxis::setRangeLimit(bool newValue)
-{
-    ui->rangeCheckBox->setChecked(newValue);
-}
-
-void JoystickAxis::mappingComboBoxChanged(int newMapping)
-{
-    JoystickInput::JOYSTICK_INPUT_MAPPING mapping = (JoystickInput::JOYSTICK_INPUT_MAPPING)newMapping;
-    emit mappingChanged(id, mapping);
-    updateUIBasedOnUAS(MultiVehicleManager::instance()->activeVehicle(), mapping);
-}
-
-void JoystickAxis::inversionCheckBoxChanged(bool inverted)
-{
-    emit inversionChanged(id, inverted);
-}
-
-void JoystickAxis::rangeCheckBoxChanged(bool limited)
-{
-    emit rangeChanged(id, limited);
-}
-
-void JoystickAxis::activeVehicleChanged(Vehicle* vehicle)
-{
-    updateUIBasedOnUAS(vehicle, (JoystickInput::JOYSTICK_INPUT_MAPPING)ui->comboBox->currentIndex());
-}
-
-void JoystickAxis::updateUIBasedOnUAS(Vehicle* vehicle, JoystickInput::JOYSTICK_INPUT_MAPPING axisMapping)
-{
-    UAS* uas = NULL;
-    
-    if (vehicle) {
-        uas = vehicle->uas();
-    }
-    
-    // Set the throttle display to only positive if:
-    // * This is the throttle axis AND
-    // * The current UAS can't reverse OR there is no current UAS
-    // This causes us to default to systems with no negative throttle.
-    if (((uas && !uas->systemCanReverse()) || !uas) && axisMapping == JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE)
-    {
-        ui->progressBar->setRange(0, 100);
-        ui->rangeCheckBox->show();
-    }
-    else
-    {
-        ui->progressBar->setRange(-100, 100);
-        ui->rangeCheckBox->hide();
-    }
-}

src/ui/MainWindow.h

@@ -46,9 +46,6 @@ This file is part of the QGROUNDCONTROL project
 #include "WaypointList.h"
 #include "CameraView.h"
 #include "UASListWidget.h"
-#ifndef __mobile__
-#include "input/JoystickInput.h"
-#endif
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
 #include "Mouse6dofInput.h"
 #endif // QGC_MOUSE_ENABLED_WIN
@@ -241,10 +238,6 @@ protected:
 
     QPointer<QGCUASFileViewMulti> fileWidget;
 
-#ifndef __mobile__
-    JoystickInput* joystick; ///< The joystick manager for QGC
-#endif
-
 #ifdef QGC_MOUSE_ENABLED_WIN
     /** @brief 3d Mouse support (WIN only) */
     Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK

src/ui/QGCMAVLinkInspector.cc

@@ -3,6 +3,8 @@
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkInspector.h"
 #include "MultiVehicleManager.h"
+#include "UAS.h"
+
 #include "ui_QGCMAVLinkInspector.h"
 
 #include <QDebug>