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"