Auto connect support

- Pervasive change to automatically connect to known board types
- Lots of additional changes along with this:
- More exposure of objects/properties to Qml
- Much restructuring in LinkManager and LinkManager clients

qgroundcontrol.pro

@@ -270,7 +270,6 @@ HEADERS += \
     src/QmlControls/QGCQGeoCoordinate.h \
     src/QmlControls/QGroundControlQmlGlobal.h \
     src/QmlControls/QmlObjectListModel.h \
-    src/SerialPortIds.h \
     src/uas/FileManager.h \
     src/uas/UAS.h \
     src/uas/UASInterface.h \

qgroundcontrol.qrc

@@ -28,7 +28,6 @@
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
         <file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
-
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
@@ -42,7 +41,6 @@
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
-        <file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
         <file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
@@ -62,20 +60,17 @@
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
-
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
         <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
         <file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
         <file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
         <file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
-
         <file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
-
         <file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
         <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
@@ -90,10 +85,8 @@
         <file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
         <file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
-
         <file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
         <file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
-
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
         <file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -139,7 +139,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
         QGC::SLEEP::usleep(500);
         qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    qgcApp()->toolbox()->linkManager()->disconnectAll();
+    qgcApp()->toolbox()->linkManager()->disconnectAll(false /* disconnectAutoconnectLink */);
     qgcApp()->restoreOverrideCursor();
 }
 

src/HomePositionManager.cc

@@ -50,14 +50,13 @@ HomePositionManager::HomePositionManager(QGCApplication* app)
     , homeLon(8.549444)
     , homeAlt(470.0)
 {
-
+    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
 }
 
 void HomePositionManager::setToolbox(QGCToolbox *toolbox)
 {
     QGCTool::setToolbox(toolbox);
 
-    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
 
     _loadSettings();
 }

src/QmlControls/DropButton.qml

@@ -184,7 +184,7 @@ Item {
         id:         dropDownItem
         visible:    checked
 
-        QGCCanvas {
+        Canvas {
             id:             arrowCanvas
             anchors.fill:   parent
 

src/QmlControls/QGCCanvas.qml

-import QtQuick 2.2
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
-
-import QGroundControl.Palette 1.0
-import QGroundControl.ScreenTools 1.0
-
-/// Canvas has some sort of bug in it which can cause it to not paint when top level Views
-/// are switched. In order to fix this we ahve a signal hacked into ScreenTools to force
-/// a repaint.
-Canvas {
-    id: _root
-
-    Connections {
-        target: ScreenTools
-
-        onRepaintRequested: _root.requestPaint()
-    }
-}

src/QmlControls/QGroundControl.Controls.qmldir

@@ -9,7 +9,6 @@ QGCComboBox         1.0 QGCComboBox.qml
 QGCColoredImage     1.0 QGCColoredImage.qml
 QGCToolBarButton    1.0 QGCToolBarButton.qml
 QGCMovableItem      1.0 QGCMovableItem.qml
-QGCCanvas           1.0 QGCCanvas.qml
 
 SubMenuButton       1.0 SubMenuButton.qml
 IndicatorButton     1.0 IndicatorButton.qml

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -33,6 +33,8 @@ static const char* kQmlGlobalKeyName = "QGCQml";
 
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
     : QObject(parent)
+    , _multiVehicleManager(toolbox->multiVehicleManager())
+    , _linkManager(toolbox->linkManager())
     , _homePositionManager(toolbox->homePositionManager())
     , _flightMapSettings(toolbox->flightMapSettings())
 {
@@ -70,25 +72,25 @@ bool QGroundControlQmlGlobal::loadBoolGlobalSetting (const QString& key, bool de
 #ifdef QT_DEBUG
 void QGroundControlQmlGlobal::_startMockLink(MockConfiguration* mockConfig)
 {
-    MockLink* mockLink = new MockLink(mockConfig);
-
     LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
 
-    linkManager->_addLink(mockLink);
-    linkManager->connectLink(mockLink);
+    mockConfig->setDynamic(true);
+    linkManager->linkConfigurations()->append(mockConfig);
+
+    linkManager->createConnectedLink(mockConfig, false /* autoconnectLink */);
 }
 #endif
 
 void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("PX4 MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("PX4 MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_PX4);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -97,13 +99,13 @@ void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("Generic MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("Generic MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_GENERIC);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_GENERIC);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -112,13 +114,13 @@ void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("APM ArduCopter MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("APM ArduCopter MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -127,13 +129,13 @@ void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startAPMArduPlaneMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("APM ArduPlane MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("APM ArduPlane MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig.setVehicleType(MAV_TYPE_FIXED_WING);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    mockConfig->setVehicleType(MAV_TYPE_FIXED_WING);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -144,12 +146,12 @@ void QGroundControlQmlGlobal::stopAllMockLinks(void)
 #ifdef QT_DEBUG
     LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
 
-    QList<LinkInterface*> links = linkManager->getLinks();
-    for (int i=0; i<links.count(); i++) {
-        LinkInterface* link = links[i];
+    for (int i=0; i<linkManager->links()->count(); i++) {
+        LinkInterface* link = linkManager->links()->value<LinkInterface*>(i);
         MockLink* mockLink = qobject_cast<MockLink*>(link);
+
         if (mockLink) {
-            linkManager->disconnectLink(mockLink);
+            linkManager->disconnectLink(mockLink, false /* disconnectAutoconnectLink */);
         }
     }
 #endif

src/QmlControls/QGroundControlQmlGlobal.h

@@ -31,6 +31,7 @@
 
 #include "QGCApplication.h"
 #include "MainWindow.h"
+#include "LinkManager.h"
 #include "HomePositionManager.h"
 #include "FlightMapSettings.h"
 
@@ -47,6 +48,8 @@ class QGroundControlQmlGlobal : public QObject
 public:
     QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
 
+    Q_PROPERTY(LinkManager*         linkManager         READ linkManager            CONSTANT)
+    Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager    CONSTANT)
     Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager    CONSTANT)
     Q_PROPERTY(FlightMapSettings*   flightMapSettings   READ flightMapSettings      CONSTANT)
 
@@ -81,6 +84,8 @@ public:
 
     // Property accesors
 
+    LinkManager*            linkManager ()              { return _linkManager; }
+    MultiVehicleManager*    multiVehicleManager ()      { return _multiVehicleManager; }
     HomePositionManager*    homePositionManager ()      { return _homePositionManager; }
     FlightMapSettings*      flightMapSettings   ()      { return _flightMapSettings; }
 
@@ -124,6 +129,8 @@ private:
     void _startMockLink(MockConfiguration* mockConfig);
 #endif
 
+    MultiVehicleManager*    _multiVehicleManager;
+    LinkManager*            _linkManager;
     HomePositionManager*    _homePositionManager;
     FlightMapSettings*      _flightMapSettings;
 };

src/QmlControls/QmlObjectListModel.cc

@@ -197,11 +197,6 @@ int QmlObjectListModel::count(void) const
     return rowCount();
 }
 
-QObject* QmlObjectListModel::get(int index)
-{
-    return _objectList[index];
-}
-
 void QmlObjectListModel::setDirty(bool dirty)
 {
     _dirty = dirty;

src/QmlControls/QmlObjectListModel.h

@@ -34,14 +34,14 @@ public:
     QmlObjectListModel(QObject* parent = NULL);
     ~QmlObjectListModel();
     
-    Q_INVOKABLE QObject* get(int index);
-    
     Q_PROPERTY(int count READ count NOTIFY countChanged)
     
     /// Returns true if any of the items in the list are dirty. Requires each object to have
     /// a dirty property and dirtyChanged signal.
     Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
 
+    Q_INVOKABLE QObject* get(int index)     { return _objectList[index]; }
+
     // Property accessors
     
     int count(void) const;
@@ -52,13 +52,14 @@ public:
     void append(QObject* object);
     void clear(void);
     QObject* removeAt(int i);
+    QObject* removeOne(QObject* object) { return removeAt(indexOf(object)); }
     void insert(int i, QObject* object);
     QObject* operator[](int i);
     const QObject* operator[](int i) const;
-    
-    template <class T>
-    const QList<T*>& list(void) { return *((QList<T*>*)((void*)(&_objectList))); }
-    
+    bool contains(QObject* object) { return _objectList.indexOf(object) != -1; }
+    int indexOf(QObject* object) { return _objectList.indexOf(object); }
+    template<class T> T value(int index) { return qobject_cast<T>(_objectList[index]); }
+
 signals:
     void countChanged(int count);
     void dirtyChanged(bool dirtyChanged);

src/QmlControls/ScreenTools.qml

@@ -47,9 +47,4 @@ Item {
         property real fontWidth:    contentWidth  * (ScreenToolsController.testHighDPI ? 2 : 1)
         property real fontHeight:   contentHeight * (ScreenToolsController.testHighDPI ? 2 : 1)
     }
-
-    Connections {
-        target: ScreenToolsController
-        onRepaintRequested: repaintRequested()
-    }
 }

src/QmlControls/ScreenToolsController.cc

@@ -43,15 +43,5 @@ const double ScreenToolsController::_largeFontPixelSizeRatio    = 1.66;
 
 ScreenToolsController::ScreenToolsController()
 {
-    MainWindow* mainWindow = MainWindow::instance();
-    // Unit tests can run Qml without MainWindow
-    if (mainWindow) {
-        connect(mainWindow, &MainWindow::repaintCanvas, this, &ScreenToolsController::_updateCanvas);
-    }
-}
 
-void ScreenToolsController::_updateCanvas()
-{
-    emit repaintRequested();
 }
-

src/QmlControls/ScreenToolsController.h

@@ -114,12 +114,6 @@ public:
     bool testHighDPI            () { return false; }
 #endif
 
-signals:
-    void repaintRequested();
-
-private slots:
-    void _updateCanvas();
-
 private:
     static const double _defaultFontPixelSizeRatio;
     static const double _smallFontPixelSizeRatio;

src/Vehicle/MultiVehicleManager.cc

@@ -57,33 +57,26 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
 
+   connect(_toolbox->linkManager(), &LinkManager::linkActive, this, &MultiVehicleManager::_linkActive);
 }
 
-bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
+void MultiVehicleManager::_linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType)
 {
-    if (!getVehicleById(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
-        if (vehicleId == _mavlinkProtocol->getSystemId()) {
-            _app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
-        }
-
-        QSettings settings;
-        bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
-        if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
-            _ignoreVehicleIds += vehicleId;
-            _app->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
-                                                 "It is unsafe to use different MAVLink versions. "
-                                                 "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
-            return false;
-        }
+    if (!getVehicleById(vehicleId)) {
+        qCDebug(MultiVehicleManagerLog) << "Adding new vehicle linkName:vehicleId:vehicleFirmwareType:vehicleType"
+                                        << link->getName()
+                                        << vehicleId
+                                        << vehicleFirmwareType
+                                        << vehicleType;
 
-        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
+        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
 
         if (!vehicle) {
             qWarning() << "New Vehicle allocation failed";
-            return false;
+            return;
         }
 
-        connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
+        connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
         connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
 
         _vehicles.append(vehicle);
@@ -92,22 +85,20 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
 
         setActiveVehicle(vehicle);
     }
-
-    return true;
 }
 
 /// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
 /// and all other right things happen when the Vehicle goes away.
 void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
 {
-    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1";
+    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1" << vehicle;
 
-    _vehicleBeingDeleted = vehicle;
+    _vehiclesBeingDeleted << vehicle;
 
     // Remove from map
     bool found = false;
     for (int i=0; i<_vehicles.count(); i++) {
-        if (_vehicles[i] == _vehicleBeingDeleted) {
+        if (_vehicles[i] == vehicle) {
             _vehicles.removeAt(i);
             found = true;
             break;
@@ -136,9 +127,9 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
     QTimer::singleShot(20, this, &MultiVehicleManager::_deleteVehiclePhase2);
 }
 
-void MultiVehicleManager::_deleteVehiclePhase2  (void)
+void MultiVehicleManager::_deleteVehiclePhase2(void)
 {
-    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2";
+    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2" << _vehiclesBeingDeleted[0];
 
     /// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
     /// This means we can now clear the active vehicle property and delete the Vehicle for real.
@@ -159,7 +150,8 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
         }
     }
 
-    _vehicleBeingDeleted->deleteLater();
+    delete _vehiclesBeingDeleted[0];
+    _vehiclesBeingDeleted.removeAt(0);
 }
 
 void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
@@ -189,7 +181,7 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
 
 void MultiVehicleManager::_setActiveVehiclePhase2(void)
 {
-    qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2";
+    qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2 _vehicleBeingSetActive" << _vehicleBeingSetActive;
 
     // Now we signal the new active vehicle
     _activeVehicle = _vehicleBeingSetActive;

src/Vehicle/MultiVehicleManager.h

@@ -58,14 +58,6 @@ public:
 
     // Methods
 
-    /// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
-    /// will create/update Vehicles as necessary.
-    ///     @param link Heartbeat came through on this link
-    ///     @param vehicleId Mavlink system id for vehicle
-    ///     @param heartbeat Mavlink heartbeat message
-    /// @return true: continue further processing of this message, false: disregard this message
-    bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
-
     Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
 
     UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
@@ -98,6 +90,7 @@ private slots:
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
     void _autopilotParametersReadyChanged(bool parametersReady);
+    void _linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);
 
 private:
     bool _vehicleExists(int vehicleId);
@@ -106,8 +99,8 @@ private:
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
 
-    Vehicle*    _vehicleBeingDeleted;               ///< Vehicle being deleted in queued phases
-    Vehicle*    _vehicleBeingSetActive;             ///< Vehicle being set active in queued phases
+    QList<Vehicle*> _vehiclesBeingDeleted;          ///< List of Vehicles being deleted in queued phases
+    Vehicle*        _vehicleBeingSetActive;         ///< Vehicle being set active in queued phases
 
     QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
 

src/Vehicle/Vehicle.cc

@@ -94,6 +94,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _satelliteCount(-1)
     , _satelliteLock(0)
     , _updateCount(0)
+    , _rcRSSI(0)
+    , _rcRSSIstore(100.0)
     , _missionManager(NULL)
     , _missionManagerInitialRequestComplete(false)
     , _parameterLoader(NULL)
@@ -106,6 +108,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _autopilotPluginManager(autopilotPluginManager)
     , _joystickManager(joystickManager)
     , _flowImageIndex(0)
+    , _allLinksInactiveSent(false)
 {
     _addLink(link);
 
@@ -119,9 +122,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
 
-    connect(_uas, &UAS::latitudeChanged,    this, &Vehicle::setLatitude);
-    connect(_uas, &UAS::longitudeChanged,   this, &Vehicle::setLongitude);
-    connect(_uas, &UAS::imageReady,         this, &Vehicle::_imageReady);
+    connect(_uas, &UAS::latitudeChanged,            this, &Vehicle::setLatitude);
+    connect(_uas, &UAS::longitudeChanged,           this, &Vehicle::setLongitude);
+    connect(_uas, &UAS::imageReady,                 this, &Vehicle::_imageReady);
+    connect(_uas, &UAS::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);
 
     _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
     _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
@@ -186,6 +190,8 @@ Vehicle::Vehicle(LinkInterface*             link,
 
 Vehicle::~Vehicle()
 {
+    qCDebug(VehicleLog) << "~Vehicle" << this;
+
     delete _missionManager;
     _missionManager = NULL;
 
@@ -285,38 +291,29 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 
 bool Vehicle::_containsLink(LinkInterface* link)
 {
-    foreach (SharedLinkInterface sharedLink, _links) {
-        if (sharedLink.data() == link) {
-            return true;
-        }
-    }
-
-    return false;
+    return _links.contains(link);
 }
 
 void Vehicle::_addLink(LinkInterface* link)
 {
     if (!_containsLink(link)) {
-        _links += qgcApp()->toolbox()->linkManager()->sharedPointerForLink(link);
+        _links += link;
         qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
-        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
+        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
+        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
     }
 }
 
-void Vehicle::_linkDisconnected(LinkInterface* link)
+void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
 {
-    qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
-    qCDebug(VehicleLog) << "link count:" << _links.count();
+    qCDebug(VehicleLog) << "_linkInactiveOrDeleted linkCount" << _links.count();
 
-    for (int i=0; i<_links.count(); i++) {
-        if (_links[i].data() == link) {
-            _links.removeAt(i);
-            break;
-        }
-    }
+    _links.removeOne(link);
 
-    if (_links.count() == 0) {
-        emit allLinksDisconnected(this);
+    if (_links.count() == 0 && !_allLinksInactiveSent) {
+        // Make sure to not send this more than one time
+        _allLinksInactiveSent = true;
+        emit allLinksInactive(this);
     }
 }
 
@@ -328,10 +325,7 @@ void Vehicle::sendMessage(mavlink_message_t message)
 void Vehicle::_sendMessage(mavlink_message_t message)
 {
     // Emit message on all links that are currently connected
-    foreach (SharedLinkInterface sharedLink, _links) {
-        LinkInterface* link = sharedLink.data();
-        Q_ASSERT(link);
-
+    foreach (LinkInterface* link, _links) {
         if (link->isConnected()) {
             MAVLinkProtocol* mavlink = _mavlink;
 
@@ -350,17 +344,6 @@ void Vehicle::_sendMessage(mavlink_message_t message)
     }
 }
 
-QList<LinkInterface*> Vehicle::links(void)
-{
-    QList<LinkInterface*> list;
-
-    foreach (SharedLinkInterface sharedLink, _links) {
-        list += sharedLink.data();
-    }
-
-    return list;
-}
-
 void Vehicle::setLatitude(double latitude)
 {
     _coordinate.setLatitude(latitude);
@@ -1035,11 +1018,11 @@ void Vehicle::_parametersReady(bool parametersReady)
 
 void Vehicle::_communicationInactivityTimedOut(void)
 {
-    // Vechile is no longer communicating with us, disconnect all links
+    // Vehicle is no longer communicating with us, disconnect all links inactive
 
     LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
     for (int i=0; i<_links.count(); i++) {
-        linkMgr->disconnectLink(_links[i].data());
+        linkMgr->disconnectLink(_links[i], false /* disconnectAutoconnectLink */);
     }
 }
 
@@ -1058,3 +1041,17 @@ void Vehicle::_imageReady(UASInterface*)
         emit flowImageIndexChanged();
     }
 }
+
+void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
+{
+    // Low pass to git rid of jitter
+    _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
+    uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
+    if(_rcRSSIstore < 0.1) {
+        filteredRSSI = 0;
+    }
+    if(_rcRSSI != filteredRSSI) {
+        _rcRSSI = filteredRSSI;
+        emit rcRSSIChanged(_rcRSSI);
+    }
+}

src/Vehicle/Vehicle.h

@@ -107,6 +107,7 @@ public:
     Q_PROPERTY(bool                 joystickEnabled         READ joystickEnabled    WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
     Q_PROPERTY(bool                 active                  READ active             WRITE setActive     NOTIFY activeChanged)
     Q_PROPERTY(int                  flowImageIndex          READ flowImageIndex                         NOTIFY flowImageIndexChanged)
+    Q_PROPERTY(int                  rcRSSI                  READ rcRSSI                                 NOTIFY rcRSSIChanged)
 
     /// 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.
@@ -166,8 +167,6 @@ public:
     /// Provides access to the Firmware Plugin for this Vehicle
     FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
 
-    QList<LinkInterface*> links(void);
-
     int manualControlReservedButtonCount(void);
 
     MissionManager* missionManager(void) { return _missionManager; }
@@ -245,6 +244,7 @@ public:
     QString         currentState        () { return _currentState; }
     int             satelliteLock       () { return _satelliteLock; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
+    int             rcRSSI              () { return _rcRSSI; }
 
     ParameterLoader* getParameterLoader(void);
 
@@ -253,7 +253,7 @@ public slots:
     void setLongitude(double longitude);
 
 signals:
-    void allLinksDisconnected(Vehicle* vehicle);
+    void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
     void coordinateValidChanged(bool coordinateValid);
     void joystickModeChanged(int mode);
@@ -293,15 +293,17 @@ signals:
     void currentStateChanged    ();
     void satelliteLockChanged   ();
     void flowImageIndexChanged  ();
+    void rcRSSIChanged          (int rcRSSI);
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
-    void _linkDisconnected(LinkInterface* link);
+    void _linkInactiveOrDeleted(LinkInterface* link);
     void _sendMessage(mavlink_message_t message);
     void _sendMessageMultipleNext(void);
     void _addNewMapTrajectoryPoint(void);
     void _parametersReady(bool parametersReady);
     void _communicationInactivityTimedOut(void);
+    void _remoteControlRSSIChanged(uint8_t rssi);
 
     void _handleTextMessage                 (int newCount);
     /** @brief Attitude from main autopilot / system state */
@@ -347,10 +349,7 @@ private:
     AutoPilotPlugin*    _autopilotPlugin;
     MAVLinkProtocol*    _mavlink;
 
-    /// List of all links associated with this vehicle. We keep SharedLinkInterface objects
-    /// which are QSharedPointer's in order to maintain reference counts across threads.
-    /// This way Link deletion works correctly.
-    QList<SharedLinkInterface> _links;
+    QList<LinkInterface*> _links;
 
     JoystickMode_t  _joystickMode;
     bool            _joystickEnabled;
@@ -394,6 +393,8 @@ private:
     int             _satelliteCount;
     int             _satelliteLock;
     int             _updateCount;
+    int             _rcRSSI;
+    double          _rcRSSIstore;
 
     MissionManager*     _missionManager;
     bool                _missionManagerInitialRequestComplete;
@@ -434,6 +435,8 @@ private:
 
     int                         _flowImageIndex;
 
+    bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time
+
     // Settings keys
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;

src/VehicleSetup/FirmwareUpgrade.qml

@@ -26,12 +26,13 @@ import QtQuick.Controls 1.2
 import QtQuick.Controls.Styles 1.2
 import QtQuick.Dialogs 1.2
 
-import QGroundControl.Controls 1.0
-import QGroundControl.FactSystem 1.0
-import QGroundControl.FactControls 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controllers 1.0
-import QGroundControl.ScreenTools 1.0
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.ScreenTools   1.0
 
 QGCView {
     id:         qgcView
@@ -88,7 +89,7 @@ QGCView {
         onBoardFound: {
             if (initialBoardSearch) {
                 // Board was found right away, so something is already plugged in before we've started upgrade
-                if (controller.qgcConnections) {
+                if (QGroundControl.linkManager.anyActiveLinks) {
                     statusTextArea.append(qgcDisconnectText)
                 } else {
                     statusTextArea.append(usbUnplugText.replace('{0}', controller.boardType))

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -68,13 +68,17 @@ FirmwareUpgradeController::FirmwareUpgradeController(void) :
     connect(_threadController, &PX4FirmwareUpgradeThreadController::flashComplete,          this, &FirmwareUpgradeController::_flashComplete);
     connect(_threadController, &PX4FirmwareUpgradeThreadController::updateProgress,         this, &FirmwareUpgradeController::_updateProgress);
     
-    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &FirmwareUpgradeController::_linkDisconnected);
-
     connect(&_eraseTimer, &QTimer::timeout, this, &FirmwareUpgradeController::_eraseProgressTick);
 }
 
+FirmwareUpgradeController::~FirmwareUpgradeController()
+{
+    qgcApp()->toolbox()->linkManager()->setConnectionsAllowed();
+}
+
 void FirmwareUpgradeController::startBoardSearch(void)
 {
+    qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Firmware Upgrade."));
     _bootloaderFound = false;
     _startFlashWhenBootloaderFound = false;
     _threadController->startFindBoardLoop();
@@ -556,17 +560,6 @@ void FirmwareUpgradeController::_appendStatusLog(const QString& text, bool criti
                               Q_ARG(QVariant, varText));
 }
 
-bool FirmwareUpgradeController::qgcConnections(void)
-{
-    return qgcApp()->toolbox()->linkManager()->anyConnectedLinks();
-}
-
-void FirmwareUpgradeController::_linkDisconnected(LinkInterface* link)
-{
-    Q_UNUSED(link);
-    emit qgcConnectionsChanged(qgcConnections());
-}
-
 void FirmwareUpgradeController::_errorCancel(const QString& msg)
 {
     _appendStatusLog(msg, false);

src/VehicleSetup/FirmwareUpgradeController.h

@@ -104,7 +104,8 @@ public:
     };
 
     FirmwareUpgradeController(void);
-    
+    ~FirmwareUpgradeController();
+
     Q_PROPERTY(QString boardPort READ boardPort NOTIFY boardFound)
     Q_PROPERTY(QString boardDescription READ boardDescription NOTIFY boardFound)
     Q_PROPERTY(QString boardType MEMBER _foundBoardType NOTIFY boardFound)
@@ -115,9 +116,6 @@ public:
     /// Progress bar for you know what
     Q_PROPERTY(QQuickItem* progressBar READ progressBar WRITE setProgressBar)
 
-    /// Returns true if there are active QGC connections
-    Q_PROPERTY(bool qgcConnections READ qgcConnections NOTIFY qgcConnectionsChanged)
-    
     /// Starts searching for boards on the background thread
     Q_INVOKABLE void startBoardSearch(void);
     
@@ -140,8 +138,6 @@ public:
     QQuickItem* statusLog(void) { return _statusLog; }
     void setStatusLog(QQuickItem* statusLog) { _statusLog = statusLog; }
     
-    bool qgcConnections(void);
-    
     QString boardPort(void) { return _foundBoardInfo.portName(); }
     QString boardDescription(void) { return _foundBoardInfo.description(); }
     
@@ -151,7 +147,6 @@ signals:
     void boardGone(void);
     void flashComplete(void);
     void flashCancelled(void);
-    void qgcConnectionsChanged(bool connections);
     void error(void);
     
 private slots:
@@ -170,7 +165,6 @@ private slots:
     void _eraseStarted(void);
     void _eraseComplete(void);
     void _eraseProgressTick(void);
-    void _linkDisconnected(LinkInterface* link);
 
 private:
     void _getFirmwareFile(FirmwareIdentifier firmwareId);

src/comm/LinkConfiguration.cc

@@ -42,19 +42,20 @@ This file is part of the QGROUNDCONTROL project
 #define LINK_SETTING_ROOT "LinkConfigurations"
 
 LinkConfiguration::LinkConfiguration(const QString& name)
-    : _preferred(false)
+    : _link(NULL)
+    , _name(name)
     , _dynamic(false)
 {
-    _link = NULL;
     _name = name;
-    Q_ASSERT(!_name.isEmpty());
+    if (_name.isEmpty()) {
+        qWarning() << "Internal error";
+    }
 }
 
 LinkConfiguration::LinkConfiguration(LinkConfiguration* copy)
 {
-    _link       = copy->getLink();
+    _link       = copy->link();
     _name       = copy->name();
-    _preferred  = copy->isPreferred();
     _dynamic    = copy->isDynamic();
     Q_ASSERT(!_name.isEmpty());
 }
@@ -62,9 +63,8 @@ LinkConfiguration::LinkConfiguration(LinkConfiguration* copy)
 void LinkConfiguration::copyFrom(LinkConfiguration* source)
 {
     Q_ASSERT(source != NULL);
-    _link       = source->getLink();
+    _link       = source->link();
     _name       = source->name();
-    _preferred  = source->isPreferred();
     _dynamic    = source->isDynamic();
 }
 
@@ -138,3 +138,15 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
     }
     return dupe;
 }
+
+void LinkConfiguration::setName(const QString name)
+{
+    _name = name;
+    emit nameChanged(name);
+}
+
+void LinkConfiguration::setLink(LinkInterface* link)
+{
+    _link = link;
+    emit linkChanged(link);
+}

src/comm/LinkConfiguration.h

@@ -30,13 +30,26 @@ class LinkInterface;
 
 /// Interface holding link specific settings.
 
-class LinkConfiguration
+class LinkConfiguration : public QObject
 {
+    Q_OBJECT
+
 public:
     LinkConfiguration(const QString& name);
     LinkConfiguration(LinkConfiguration* copy);
     virtual ~LinkConfiguration() {}
 
+    Q_PROPERTY(QString name         READ name   WRITE setName   NOTIFY nameChanged)
+    Q_PROPERTY(LinkInterface* link  READ link   WRITE setLink   NOTIFY linkChanged)
+
+    // Property accessors
+
+    const QString   name(void)  { return _name; }
+    LinkInterface*  link(void)  { return _link; }
+
+    void            setName(const QString name);
+    void            setLink(LinkInterface* link);
+
     ///  The link types supported by QGC
     enum {
 #ifndef __ios__
@@ -55,48 +68,6 @@ public:
         TypeLast        // Last type value (type >= TypeLast == invalid)
     };
 
-    /*!
-     * @brief Get configuration name
-     *
-     * This is the user friendly name shown in the connection drop down box and the name used to save the configuration in the settings.
-     * @return The name of this link.
-     */
-    const QString name()  { return _name; }
-
-    /*!
-     * @brief Set the name of this link configuration.
-     *
-     * This is the user friendly name shown in the connection drop down box and the name used to save the configuration in the settings.
-     * @param[in] name The configuration name
-     */
-    void setName(const QString name)  {_name = name; }
-
-    /*!
-     * @brief Set the link this configuration is currently attched to.
-     *
-     * @param[in] link The pointer to the current LinkInterface instance (if any)
-     */
-    void setLink(LinkInterface* link) { _link = link; }
-
-    /*!
-     * @brief Get the link this configuration is currently attched to.
-     *
-     * @return The pointer to the current LinkInterface instance (if any)
-     */
-    LinkInterface* getLink() { return _link; }
-
-    /*!
-     *
-     * Is this a preferred configuration? (decided at runtime)
-     * @return True if this is a known configuration (PX4, etc.)
-     */
-    bool isPreferred() { return _preferred; }
-
-    /*!
-     * Set if this is this a preferred configuration. (decided at runtime)
-    */
-    void setPreferred(bool preferred = true) { _preferred = preferred; }
-
     /*!
      *
      * Is this a dynamic configuration? (non persistent)
@@ -178,11 +149,14 @@ public:
      */
     static LinkConfiguration* duplicateSettings(LinkConfiguration *source);
 
+signals:
+    void nameChanged(const QString& name);
+    void linkChanged(LinkInterface* link);
+
 protected:
     LinkInterface* _link; ///< Link currently using this configuration (if any)
 private:
     QString _name;
-    bool    _preferred;  ///< Determined internally if this is a preferred connection. It comes up first in the drop down box.
     bool    _dynamic;    ///< A connection added automatically and not persistent (unless it's edited).
 };
 

src/comm/LinkInterface.h

@@ -57,6 +57,15 @@ class LinkInterface : public QThread
     friend class LinkManager;
 
 public:
+    Q_PROPERTY(bool autoconnect READ autoconnect    WRITE setAutoconnect    NOTIFY autoconnectChanged)
+    Q_PROPERTY(bool active      READ active         WRITE setActive         NOTIFY activeChanged)
+
+    // Property accessors
+    bool autoconnect(void)                  { return _autoconnect; }
+    void setAutoconnect(bool autoconnect)   { _autoconnect = autoconnect; emit autoconnectChanged(autoconnect); }
+    bool active(void)                       { return _active; }
+    void setActive(bool active)             { _active = active; emit activeChanged(active); }
+
     /**
      * @brief Get link configuration (if used)
      * @return A pointer to the instance of LinkConfiguration if supported. NULL otherwise.
@@ -128,6 +137,7 @@ public:
     /// @return true: "sh /etc/init.d/rc.usb" must be sent on link to start mavlink
     virtual bool requiresUSBMavlinkStart(void) const { return false; }
 
+
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
     bool connect(void);
@@ -148,6 +158,8 @@ public slots:
     virtual void writeBytes(const char *bytes, qint64 length) = 0;
     
 signals:
+    void autoconnectChanged(bool autoconnect);
+    void activeChanged(bool active);
 
     /**
      * @brief New data arrived
@@ -184,8 +196,10 @@ signals:
 protected:
     // Links are only created by LinkManager so constructor is not public
     LinkInterface() :
-        QThread(0),
-        _mavlinkChannelSet(false)
+        QThread(0)
+        , _mavlinkChannelSet(false)
+        , _autoconnect(false)
+        , _active(false)
     {
         // Initialize everything for the data rate calculation buffers.
         _inDataIndex  = 0;
@@ -321,12 +335,7 @@ private:
      **/
     virtual bool _connect(void) = 0;
 
-    /**
-     * @brief Disconnect this interface logically
-     *
-     * @return True if connection could be terminated, false otherwise
-     **/
-    virtual bool _disconnect(void) = 0;
+    virtual void _disconnect(void) = 0;
     
     /// Sets the mavlink channel to use for this link
     void _setMavlinkChannel(uint8_t channel) { Q_ASSERT(!_mavlinkChannelSet); _mavlinkChannelSet = true; _mavlinkChannel = channel; }
@@ -351,6 +360,9 @@ private:
     qint64  _outDataWriteTimes[_dataRateBufferSize]; // in ms
     
     mutable QMutex _dataRateMutex; // Mutex for accessing the data rate member variables
+
+    bool _autoconnect;  ///< true: Link is an autoconnect connection and should never be disconnected
+    bool _active;       ///< true: link is actively receiving mavlink messages
 };
 
 typedef QSharedPointer<LinkInterface> SharedLinkInterface;

src/comm/LinkManager.cc

@@ -42,8 +42,17 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMessageBox.h"
 #include "QGCApplication.h"
 #include "QGCApplication.h"
+#include "UDPLink.h"
+#include "TCPLink.h"
 
 QGC_LOGGING_CATEGORY(LinkManagerLog, "LinkManagerLog")
+QGC_LOGGING_CATEGORY(LinkManagerVerboseLog, "LinkManagerVerboseLog")
+
+const char* LinkManager::_settingsGroup =           "LinkManager";
+const char* LinkManager::_autoconnectUDPKey =       "AutoconnectUDP";
+const char* LinkManager::_autoconnectPixhawkKey =   "AutoconnectPixhawk";
+const char* LinkManager::_autoconnect3DRRadioKey =  "Autoconnect3DRRadio";
+const char* LinkManager::_autoconnectPX4FlowKey =   "AutoconnectPX4Flow";
 
 LinkManager::LinkManager(QGCApplication* app)
     : QGCTool(app)
@@ -51,21 +60,32 @@ LinkManager::LinkManager(QGCApplication* app)
     , _configurationsLoaded(false)
     , _connectionsSuspended(false)
     , _mavlinkChannelsUsedBitMask(0)
-    , _nullSharedLink(NULL)
     , _mavlinkProtocol(NULL)
+    , _autoconnectUDPConfig(NULL)
+    , _autoconnectUDP(true)
+    , _autoconnectPixhawk(true)
+    , _autoconnect3DRRadio(true)
+    , _autoconnectPX4Flow(true)
+
 {
+    qmlRegisterUncreatableType<LinkManager>         ("QGroundControl", 1, 0, "LinkManager",         "Reference only");
+    qmlRegisterUncreatableType<LinkConfiguration>   ("QGroundControl", 1, 0, "LinkConfiguration",   "Reference only");
+    qmlRegisterUncreatableType<LinkInterface>       ("QGroundControl", 1, 0, "LinkInterface",       "Reference only");
+
+    QSettings settings;
 
+    settings.beginGroup(_settingsGroup);
+    _autoconnectUDP =       settings.value(_autoconnectUDPKey, true).toBool();
+    _autoconnectPixhawk =   settings.value(_autoconnectPixhawkKey, true).toBool();
+    _autoconnect3DRRadio =  settings.value(_autoconnect3DRRadioKey, true).toBool();
+    _autoconnectPX4Flow =   settings.value(_autoconnectPX4FlowKey, true).toBool();
 }
 
 LinkManager::~LinkManager()
 {
-    // Clear configuration list
-    while(_linkConfigurations.count()) {
-        LinkConfiguration* pLink = _linkConfigurations.at(0);
-        if(pLink) delete pLink;
-        _linkConfigurations.removeAt(0);
+    if (anyActiveLinks()) {
+        qWarning() << "Why are there still active links?";
     }
-    Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
 }
 
 void LinkManager::setToolbox(QGCToolbox *toolbox)
@@ -73,14 +93,15 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
    QGCTool::setToolbox(toolbox);
 
    _mavlinkProtocol = _toolbox->mavlinkProtocol();
+   connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &LinkManager::_vehicleHeartbeatInfo);
 
 #ifndef __ios__
-    connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList);
+    connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
     _portListTimer.start(1000);
 #endif
 }
 
-LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
+LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config, bool autoconnectLink)
 {
     Q_ASSERT(config);
     LinkInterface* pLink = NULL;
@@ -106,30 +127,36 @@ LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
 #endif
     }
     if(pLink) {
+        pLink->setAutoconnect(autoconnectLink);
         _addLink(pLink);
         connectLink(pLink);
     }
     return pLink;
 }
 
-LinkInterface* LinkManager::createConnectedLink(const QString& name)
+LinkInterface* LinkManager::createConnectedLink(const QString& name, bool autoconnectLink)
 {
     Q_ASSERT(name.isEmpty() == false);
     for(int i = 0; i < _linkConfigurations.count(); i++) {
-        LinkConfiguration* conf = _linkConfigurations.at(i);
+        LinkConfiguration* conf = _linkConfigurations.value<LinkConfiguration*>(i);
         if(conf && conf->name() == name)
-            return createConnectedLink(conf);
+            return createConnectedLink(conf, autoconnectLink);
     }
     return NULL;
 }
 
 void LinkManager::_addLink(LinkInterface* link)
 {
-    Q_ASSERT(link);
+    if (thread() != QThread::currentThread()) {
+        qWarning() << "_deleteLink called from incorrect thread";
+        return;
+    }
 
-    _linkListMutex.lock();
+    if (!link) {
+        return;
+    }
 
-    if (!containsLink(link)) {
+    if (!_links.contains(link)) {
         // Find a mavlink channel to use for this link
         for (int i=0; i<32; i++) {
             if (!(_mavlinkChannelsUsedBitMask && 1 << i)) {
@@ -140,11 +167,8 @@ void LinkManager::_addLink(LinkInterface* link)
             }
         }
         
-        _links.append(QSharedPointer<LinkInterface>(link));
-        _linkListMutex.unlock();
+        _links.append(link);
         emit newLink(link);
-    } else {
-        _linkListMutex.unlock();
     }
 
     // MainWindow may be around when doing things like running unit tests
@@ -161,39 +185,12 @@ void LinkManager::_addLink(LinkInterface* link)
     connect(link, &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 }
 
-bool LinkManager::connectAll()
+void LinkManager::disconnectAll(bool disconnectAutoconnectLink)
 {
-    if (_connectionsSuspendedMsg()) {
-        return false;
-    }
-
-    bool allConnected = true;
-
-    foreach (SharedLinkInterface sharedLink, _links) {
-        Q_ASSERT(sharedLink.data());
-        if (!sharedLink.data()->_connect()) {
-            allConnected = false;
-        }
+    // Walk list in reverse order to preserve indices during delete
+    for (int i=_links.count()-1; i>=0; i--) {
+        disconnectLink(_links.value<LinkInterface*>(i), disconnectAutoconnectLink);
     }
-
-    return allConnected;
-}
-
-bool LinkManager::disconnectAll()
-{
-    bool allDisconnected = true;
-
-    // Make a copy so the list is modified out from under us
-    QList<SharedLinkInterface> links = _links;
-
-    foreach (SharedLinkInterface sharedLink, links) {
-        Q_ASSERT(sharedLink.data());
-        if (!disconnectLink(sharedLink.data())) {
-            allDisconnected = false;
-        }
-    }
-
-    return allDisconnected;
 }
 
 bool LinkManager::connectLink(LinkInterface* link)
@@ -204,68 +201,60 @@ bool LinkManager::connectLink(LinkInterface* link)
         return false;
     }
 
+    bool previousAnyConnectedLinks = anyConnectedLinks();
+    bool previousAnyNonAutoconnectConnectedLinks = anyNonAutoconnectConnectedLinks();
+
     if (link->_connect()) {
+        if (!previousAnyConnectedLinks) {
+            emit anyConnectedLinksChanged(true);
+        }
+        if (!previousAnyNonAutoconnectConnectedLinks && anyNonAutoconnectConnectedLinks()) {
+            emit anyNonAutoconnectConnectedLinksChanged(true);
+        }
         return true;
     } else {
         return false;
     }
 }
 
-bool LinkManager::disconnectLink(LinkInterface* link)
+bool LinkManager::disconnectLink(LinkInterface* link, bool disconnectAutoconnectLink)
 {
     Q_ASSERT(link);
-    if (link->_disconnect()) {
+
+    if (disconnectAutoconnectLink || !link->autoconnect()) {
+        link->_disconnect();
         LinkConfiguration* config = link->getLinkConfiguration();
         if(config) {
             config->setLink(NULL);
         }
         _deleteLink(link);
         return true;
-    } else {
-        return false;
     }
+
+    return false;
 }
 
 void LinkManager::_deleteLink(LinkInterface* link)
 {
-    Q_ASSERT(link);
+    if (thread() != QThread::currentThread()) {
+        qWarning() << "_deleteLink called from incorrect thread";
+        return;
+    }
+
+    if (!link) {
+        return;
+    }
 
-    _linkListMutex.lock();
-    
     // Free up the mavlink channel associated with this link
     _mavlinkChannelsUsedBitMask &= ~(1 << link->getMavlinkChannel());
 
-    bool found = false;
-    for (int i=0; i<_links.count(); i++) {
-        if (_links[i].data() == link) {
-            _links.removeAt(i);
-            found = true;
-            break;
-        }
-    }
-    Q_UNUSED(found);
-    Q_ASSERT(found);
-
-    _linkListMutex.unlock();
+    _links.removeOne(link);
+    delete link;
 
     // Emit removal of link
     emit linkDeleted(link);
 }
 
-/**
- *
- */
-const QList<LinkInterface*> LinkManager::getLinks()
-{
-    QList<LinkInterface*> list;
-    
-    foreach (SharedLinkInterface sharedLink, _links) {
-        list << sharedLink.data();
-    }
-    
-    return list;
-}
-
 /// @brief If all new connections should be suspended a message is displayed to the user and true
 ///         is returned;
 bool LinkManager::_connectionsSuspendedMsg(void)
@@ -286,13 +275,6 @@ void LinkManager::setConnectionsSuspended(QString reason)
     Q_ASSERT(!reason.isEmpty());
 }
 
-void LinkManager::_shutdown(void)
-{
-    while (_links.count() != 0) {
-        disconnectLink(_links[0].data());
-    }
-}
-
 void LinkManager::_linkConnected(void)
 {
     emit linkConnected((LinkInterface*)sender());
@@ -303,33 +285,6 @@ void LinkManager::_linkDisconnected(void)
     emit linkDisconnected((LinkInterface*)sender());
 }
 
-void LinkManager::addLinkConfiguration(LinkConfiguration* link)
-{
-    Q_ASSERT(link != NULL);
-    //-- If not there already, add it
-    int idx = _linkConfigurations.indexOf(link);
-    if(idx < 0)
-    {
-        _linkConfigurations.append(link);
-    }
-}
-
-void LinkManager::removeLinkConfiguration(LinkConfiguration *link)
-{
-    Q_ASSERT(link != NULL);
-    int idx = _linkConfigurations.indexOf(link);
-    if(idx >= 0)
-    {
-        _linkConfigurations.removeAt(idx);
-        delete link;
-    }
-}
-
-const QList<LinkConfiguration*> LinkManager::getLinkConfigurationList()
-{
-    return _linkConfigurations;
-}
-
 void LinkManager::suspendConfigurationUpdates(bool suspend)
 {
     _configUpdateSuspended = suspend;
@@ -339,30 +294,35 @@ void LinkManager::saveLinkConfigurationList()
 {
     QSettings settings;
     settings.remove(LinkConfiguration::settingsRoot());
-    int index = 0;
-    foreach (LinkConfiguration* pLink, _linkConfigurations) {
-        Q_ASSERT(pLink != NULL);
-        if(!pLink->isDynamic())
-        {
-            QString root = LinkConfiguration::settingsRoot();
-            root += QString("/Link%1").arg(index++);
-            settings.setValue(root + "/name", pLink->name());
-            settings.setValue(root + "/type", pLink->type());
-            settings.setValue(root + "/preferred", pLink->isPreferred());
-            // Have the instance save its own values
-            pLink->saveSettings(settings, root);
+
+    for (int i=0; i<_linkConfigurations.count(); i++) {
+        LinkConfiguration* linkConfig = _linkConfigurations.value<LinkConfiguration*>(i);
+
+        if (linkConfig) {
+            if(!linkConfig->isDynamic())
+            {
+                QString root = LinkConfiguration::settingsRoot();
+                root += QString("/Link%1").arg(i);
+                settings.setValue(root + "/name", linkConfig->name());
+                settings.setValue(root + "/type", linkConfig->type());
+                // Have the instance save its own values
+                linkConfig->saveSettings(settings, root);
+            }
+        } else {
+            qWarning() << "Internal error";
         }
     }
+
     QString root(LinkConfiguration::settingsRoot());
-    settings.setValue(root + "/count", index);
+    settings.setValue(root + "/count", _linkConfigurations.count());
     emit linkConfigurationChanged();
 }
 
 void LinkManager::loadLinkConfigurationList()
 {
-    bool udpExists = false;
     bool linksChanged = false;
     QSettings settings;
+
     // Is the group even there?
     if(settings.contains(LinkConfiguration::settingsRoot() + "/count")) {
         // Find out how many configurations we have
@@ -376,49 +336,33 @@ void LinkManager::loadLinkConfigurationList()
                     if(settings.contains(root + "/name")) {
                         QString name = settings.value(root + "/name").toString();
                         if(!name.isEmpty()) {
-                            bool preferred = false;
-                            if(settings.contains(root + "/preferred")) {
-                                preferred = settings.value(root + "/preferred").toBool();
-                            }
                             LinkConfiguration* pLink = NULL;
                             switch(type) {
 #ifndef __ios__
                                 case LinkConfiguration::TypeSerial:
                                     pLink = (LinkConfiguration*)new SerialConfiguration(name);
-                                    pLink->setPreferred(preferred);
                                     break;
 #endif
                                 case LinkConfiguration::TypeUdp:
                                     pLink = (LinkConfiguration*)new UDPConfiguration(name);
-                                    pLink->setPreferred(preferred);
                                     break;
                                 case LinkConfiguration::TypeTcp:
                                     pLink = (LinkConfiguration*)new TCPConfiguration(name);
-                                    pLink->setPreferred(preferred);
                                     break;
                                 case LinkConfiguration::TypeLogReplay:
                                     pLink = (LinkConfiguration*)new LogReplayLinkConfiguration(name);
-                                    pLink->setPreferred(preferred);
                                     break;
 #ifdef QT_DEBUG
                                 case LinkConfiguration::TypeMock:
                                     pLink = (LinkConfiguration*)new MockConfiguration(name);
-                                    pLink->setPreferred(false);
                                     break;
 #endif
                             }
                             if(pLink) {
                                 // Have the instance load its own values
                                 pLink->loadSettings(settings, root);
-                                addLinkConfiguration(pLink);
+                                _linkConfigurations.append(pLink);
                                 linksChanged = true;
-                                // Check for UDP links
-                                if(pLink->type() == LinkConfiguration::TypeUdp) {
-                                    UDPConfiguration* uLink = dynamic_cast<UDPConfiguration*>(pLink);
-                                    if(uLink && uLink->localPort() == QGC_UDP_LOCAL_PORT) {
-                                        udpExists = true;
-                                    }
-                                }
                             }
                         } else {
                             qWarning() << "Link Configuration " << root << " has an empty name." ;
@@ -439,37 +383,32 @@ void LinkManager::loadLinkConfigurationList()
 #ifdef QT_DEBUG
     MockConfiguration* pMock = new MockConfiguration("Mock Link PX4");
     pMock->setDynamic(true);
-    addLinkConfiguration(pMock);
+    _linkConfigurations.append(pMock);
     linksChanged = true;
 #endif
 
-    //-- If we don't have a configured UDP link, create a default one
-    if(!udpExists) {
-        UDPConfiguration* uLink = new UDPConfiguration("Default UDP Link");
-        uLink->setLocalPort(QGC_UDP_LOCAL_PORT);
-        uLink->setDynamic();
-        addLinkConfiguration(uLink);
-        linksChanged = true;
-    }
-    
     if(linksChanged) {
         emit linkConfigurationChanged();
     }
+
     // Enable automatic Serial PX4/3DR Radio hunting
     _configurationsLoaded = true;
 }
 
 #ifndef __ios__
-SerialConfiguration* LinkManager::_findSerialConfiguration(const QString& portName)
+SerialConfiguration* LinkManager::_autoconnectConfigurationsContainsPort(const QString& portName)
 {
     QString searchPort = portName.trimmed();
-    foreach (LinkConfiguration* pLink, _linkConfigurations) {
-        Q_ASSERT(pLink != NULL);
-        if(pLink->type() == LinkConfiguration::TypeSerial) {
-            SerialConfiguration* pSerial = dynamic_cast<SerialConfiguration*>(pLink);
-            if(pSerial->portName() == searchPort) {
-                return pSerial;
+
+    for (int i=0; i<_autoconnectConfigurations.count(); i++) {
+        SerialConfiguration* linkConfig = _autoconnectConfigurations.value<SerialConfiguration*>(i);
+
+        if (linkConfig) {
+            if (linkConfig->portName() == searchPort) {
+                return linkConfig;
             }
+        } else {
+            qWarning() << "Internal error";
         }
     }
     return NULL;
@@ -477,26 +416,34 @@ SerialConfiguration* LinkManager::_findSerialConfiguration(const QString& portNa
 #endif
 
 #ifndef __ios__
-void LinkManager::_updateConfigurationList(void)
+void LinkManager::_updateAutoConnectLinks(void)
 {
-    if (_configUpdateSuspended || !_configurationsLoaded) {
+    if (_connectionsSuspended || qgcApp()->runningUnitTests()) {
         return;
     }
-    bool saveList = false;
+
+    if (_autoconnectUDP && !_autoconnectUDPConfig) {
+        _autoconnectUDPConfig = new UDPConfiguration("Default UDP Link");
+        _autoconnectUDPConfig->setLocalPort(QGC_UDP_LOCAL_PORT);
+        _autoconnectUDPConfig->setDynamic(true);
+        createConnectedLink(_autoconnectUDPConfig, true /* persistenLink */);
+    }
+
+
     QStringList currentPorts;
     QList<QGCSerialPortInfo> portList = QGCSerialPortInfo::availablePorts();
+
     // Iterate Comm Ports
     foreach (QGCSerialPortInfo portInfo, portList) {
-#if 0
-        // Too noisy for most logging, so turn on as needed
-        qCDebug(LinkManagerLog) << "-----------------------------------------------------";
-        qCDebug(LinkManagerLog) << "portName:         " << portInfo.portName();
-        qCDebug(LinkManagerLog) << "systemLocation:   " << portInfo.systemLocation();
-        qCDebug(LinkManagerLog) << "description:      " << portInfo.description();
-        qCDebug(LinkManagerLog) << "manufacturer:     " << portInfo.manufacturer();
-        qCDebug(LinkManagerLog) << "serialNumber:     " << portInfo.serialNumber();
-        qCDebug(LinkManagerLog) << "vendorIdentifier: " << portInfo.vendorIdentifier();
-#endif
+        qCDebug(LinkManagerVerboseLog) << "-----------------------------------------------------";
+        qCDebug(LinkManagerVerboseLog) << "portName:          " << portInfo.portName();
+        qCDebug(LinkManagerVerboseLog) << "systemLocation:    " << portInfo.systemLocation();
+        qCDebug(LinkManagerVerboseLog) << "description:       " << portInfo.description();
+        qCDebug(LinkManagerVerboseLog) << "manufacturer:      " << portInfo.manufacturer();
+        qCDebug(LinkManagerVerboseLog) << "serialNumber:      " << portInfo.serialNumber();
+        qCDebug(LinkManagerVerboseLog) << "vendorIdentifier:  " << portInfo.vendorIdentifier();
+        qCDebug(LinkManagerVerboseLog) << "productIdentifier: " << portInfo.productIdentifier();
+
         // Save port name
         currentPorts << portInfo.systemLocation();
 
@@ -508,76 +455,98 @@ void LinkManager::_updateConfigurationList(void)
                 continue;
             }
             
-            SerialConfiguration* pSerial = _findSerialConfiguration(portInfo.systemLocation());
-            if (pSerial) {
-                //-- If this port is configured make sure it has the preferred flag set
-                if(!pSerial->isPreferred()) {
-                    pSerial->setPreferred(true);
-                    saveList = true;
-                }
-            } else {
+            if (!_autoconnectConfigurationsContainsPort(portInfo.systemLocation())) {
+                SerialConfiguration* pSerialConfig = NULL;
+
                 switch (boardType) {
                 case QGCSerialPortInfo::BoardTypePX4FMUV1:
                 case QGCSerialPortInfo::BoardTypePX4FMUV2:
-                    pSerial = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed()));
+                    if (_autoconnectPixhawk) {
+                        pSerialConfig = new SerialConfiguration(QString("Pixhawk on %1").arg(portInfo.portName().trimmed()));
+                    }
                     break;
                 case QGCSerialPortInfo::BoardTypeAeroCore:
-                    pSerial = new SerialConfiguration(QString("AeroCore on %1").arg(portInfo.portName().trimmed()));
+                    if (_autoconnectPixhawk) {
+                        pSerialConfig = new SerialConfiguration(QString("AeroCore on %1").arg(portInfo.portName().trimmed()));
+                    }
                     break;
                 case QGCSerialPortInfo::BoardTypePX4Flow:
-                    pSerial = new SerialConfiguration(QString("PX4Flow on %1").arg(portInfo.portName().trimmed()));
+                    if (_autoconnectPX4Flow) {
+                        pSerialConfig = new SerialConfiguration(QString("PX4Flow on %1").arg(portInfo.portName().trimmed()));
+                    }
                     break;
                 case QGCSerialPortInfo::BoardType3drRadio:
-                    pSerial = new SerialConfiguration(QString("3DR Radio on %1").arg(portInfo.portName().trimmed()));
+                    if (_autoconnect3DRRadio) {
+                        pSerialConfig = new SerialConfiguration(QString("3DR Radio on %1").arg(portInfo.portName().trimmed()));
+                    }
+                    break;
                 default:
                     qWarning() << "Internal error";
-                    break;
+                    continue;
                 }
 
-                pSerial->setBaud(boardType == QGCSerialPortInfo::BoardType3drRadio ? 57600 : 115200);
-                pSerial->setDynamic(true);
-                pSerial->setPreferred(true);
-                pSerial->setPortName(portInfo.systemLocation());
-                addLinkConfiguration(pSerial);
-                saveList = true;
+                if (pSerialConfig) {
+                    qCDebug(LinkManagerLog) << "New auto-connect port added: " << pSerialConfig->name() << portInfo.systemLocation();
+                    pSerialConfig->setBaud(boardType == QGCSerialPortInfo::BoardType3drRadio ? 57600 : 115200);
+                    pSerialConfig->setDynamic(true);
+                    pSerialConfig->setPortName(portInfo.systemLocation());
+
+                    _autoconnectConfigurations.append(pSerialConfig);
+
+                    createConnectedLink(pSerialConfig, true /* persistenLink */);
+                }
             }
         }
     }
 
     // Now we go through the current configuration list and make sure any dynamic config has gone away
     QList<LinkConfiguration*>  _confToDelete;
-    foreach (LinkConfiguration* pLink, _linkConfigurations) {
-        Q_ASSERT(pLink != NULL);
-        // We only care about dynamic links
-        if(pLink->isDynamic()) {
-            if(pLink->type() == LinkConfiguration::TypeSerial) {
-                // Don't mess with connected link. Let it deal with the disapearing device.
-                if(pLink->getLink() == NULL) {
-                    SerialConfiguration* pSerial = dynamic_cast<SerialConfiguration*>(pLink);
-                    if(!currentPorts.contains(pSerial->portName())) {
-                        _confToDelete.append(pSerial);
-                    }
-                }
+    for (int i=0; i<_autoconnectConfigurations.count(); i++) {
+        SerialConfiguration* linkConfig = _autoconnectConfigurations.value<SerialConfiguration*>(i);
+
+        if (linkConfig) {
+            if (!currentPorts.contains(linkConfig->portName())) {
+                _confToDelete.append(linkConfig);
             }
+        } else {
+            qWarning() << "Internal error";
         }
     }
-    // Now remove all links that are gone
-    foreach (LinkConfiguration* pDelete, _confToDelete) {
-        removeLinkConfiguration(pDelete);
-        saveList = true;
-    }
-    // Save configuration list, which will also trigger a signal for the UI
-    if(saveList) {
-        saveLinkConfigurationList();
+
+    // Now disconnect/remove all links that are gone
+    foreach (LinkConfiguration* pDeleteConfig, _confToDelete) {
+        LinkInterface* link = pDeleteConfig->link();
+        if (link) {
+            disconnectLink(link, true /* disconnectAutoconnectLink */);
+        }
+        _autoconnectConfigurations.removeOne(pDeleteConfig);
+        delete pDeleteConfig;
     }
 }
 #endif
 
-bool LinkManager::containsLink(LinkInterface* link)
+bool LinkManager::anyConnectedLinks(void)
+{
+    bool found = false;
+    for (int i=0; i<_links.count(); i++) {
+        LinkInterface* link = _links.value<LinkInterface*>(i);
+
+        if (link && link->isConnected()) {
+            found = true;
+            break;
+        }
+    }
+    return found;
+}
+
+bool LinkManager::anyNonAutoconnectConnectedLinks(void)
 {
+    // FIXME: Should remove this duplication with anyConnectedLinks
     bool found = false;
-    foreach (SharedLinkInterface sharedLink, _links) {
-        if (sharedLink.data() == link) {
+    for (int i=0; i<_links.count(); i++) {
+        LinkInterface* link = _links.value<LinkInterface*>(i);
+
+        if (link && !link->autoconnect() && link->isConnected()) {
             found = true;
             break;
         }
@@ -585,11 +554,13 @@ bool LinkManager::containsLink(LinkInterface* link)
     return found;
 }
 
-bool LinkManager::anyConnectedLinks(void)
+bool LinkManager::anyActiveLinks(void)
 {
     bool found = false;
-    foreach (SharedLinkInterface sharedLink, _links) {
-        if (sharedLink.data()->isConnected()) {
+    for (int i=0; i<_links.count(); i++) {
+        LinkInterface* link = _links.value<LinkInterface*>(i);
+
+        if (link && link->active()) {
             found = true;
             break;
         }
@@ -597,14 +568,117 @@ bool LinkManager::anyConnectedLinks(void)
     return found;
 }
 
-SharedLinkInterface& LinkManager::sharedPointerForLink(LinkInterface* link)
+bool LinkManager::anyNonAutoconnectActiveLinks(void)
 {
+    // FIXME: Should remove this duplication with anyActiveLinks
+    bool found = false;
     for (int i=0; i<_links.count(); i++) {
-        if (_links[i].data() == link) {
-            return _links[i];
+        LinkInterface* link = _links.value<LinkInterface*>(i);
+
+        if (link && !link->autoconnect() && link->active()) {
+            found = true;
+            break;
+        }
+    }
+    return found;
+}
+
+void LinkManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
+{
+    if (!link->active() && !_ignoreVehicleIds.contains(vehicleId)) {
+        qCDebug(LinkManagerLog) << "New heartbeat on link:vehicleId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
+                                << link->getName()
+                                << vehicleId
+                                << vehicleMavlinkVersion
+                                << vehicleFirmwareType
+                                << vehicleType;
+
+        if (vehicleId == _mavlinkProtocol->getSystemId()) {
+            _app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
+        }
+
+        QSettings settings;
+        bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
+        if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
+            _ignoreVehicleIds += vehicleId;
+            _app->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
+                                                 "It is unsafe to use different MAVLink versions. "
+                                                 "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
+            return;
+        }
+
+        bool previousAnyActiveLinks = anyActiveLinks();
+        bool previousAnyNonAutoconnectActiveLinks = anyNonAutoconnectActiveLinks();
+
+        link->setActive(true);
+        emit linkActive(link, vehicleId, vehicleFirmwareType, vehicleType);
+
+        if (!previousAnyActiveLinks) {
+            emit anyActiveLinksChanged(true);
         }
+        if (!previousAnyNonAutoconnectActiveLinks && anyNonAutoconnectActiveLinks()) {
+            emit anyNonAutoconnectActiveLinksChanged(true);
+        }
+    }
+}
+
+void LinkManager::shutdown(void)
+{
+    setConnectionsSuspended("Shutdown");
+    disconnectAll(true /* disconnectAutoconnectLink */);
+}
+
+void LinkManager::setAutoconnectUDP(bool autoconnect)
+{
+    if (_autoconnectUDP != autoconnect) {
+        QSettings settings;
+
+        settings.beginGroup(_settingsGroup);
+        settings.setValue(_autoconnectUDPKey, autoconnect);
+
+        _autoconnectUDP = autoconnect;
+        emit autoconnectUDPChanged(autoconnect);
     }
-    // This should never happen
-    Q_ASSERT(false);
-    return _nullSharedLink;
+}
+
+void LinkManager::setAutoconnectPixhawk(bool autoconnect)
+{
+    if (_autoconnectPixhawk != autoconnect) {
+        QSettings settings;
+
+        settings.beginGroup(_settingsGroup);
+        settings.setValue(_autoconnectPixhawkKey, autoconnect);
+
+        _autoconnectPixhawk = autoconnect;
+        emit autoconnectPixhawkChanged(autoconnect);
+    }
+
+}
+
+void LinkManager::setAutoconnect3DRRadio(bool autoconnect)
+{
+    if (_autoconnect3DRRadio != autoconnect) {
+        QSettings settings;
+
+        settings.beginGroup(_settingsGroup);
+        settings.setValue(_autoconnect3DRRadioKey, autoconnect);
+
+        _autoconnect3DRRadio = autoconnect;
+        emit autoconnect3DRRadioChanged(autoconnect);
+    }
+
+}
+
+void LinkManager::setAutoconnectPX4Flow(bool autoconnect)
+{
+    if (_autoconnectPX4Flow != autoconnect) {
+        QSettings settings;
+
+        settings.beginGroup(_settingsGroup);
+        settings.setValue(_autoconnectPX4FlowKey, autoconnect);
+
+        _autoconnectPX4Flow = autoconnect;
+        emit autoconnectPX4FlowChanged(autoconnect);
+    }
+
 }

src/comm/LinkManager.h

@@ -35,23 +35,23 @@ This file is part of the PIXHAWK project
 #include "LinkInterface.h"
 #include "QGCLoggingCategory.h"
 #include "QGCToolbox.h"
+#include "ProtocolInterface.h"
+#include "MAVLinkProtocol.h"
+#include "LogReplayLink.h"
+#include "QmlObjectListModel.h"
 
-// Links
 #ifndef __ios__
-#include "SerialLink.h"
+    #include "SerialLink.h"
 #endif
-#include "UDPLink.h"
-#include "TCPLink.h"
-#include "LogReplayLink.h"
 
 #ifdef QT_DEBUG
-#include "MockLink.h"
+    #include "MockLink.h"
 #endif
 
-#include "ProtocolInterface.h"
-#include "MAVLinkProtocol.h"
+class UDPConfiguration;
 
 Q_DECLARE_LOGGING_CATEGORY(LinkManagerLog)
+Q_DECLARE_LOGGING_CATEGORY(LinkManagerVerboseLog)
 
 class QGCApplication;
 
@@ -72,17 +72,36 @@ public:
     LinkManager(QGCApplication* app);
     ~LinkManager();
 
-    /*!
-      Add a new link configuration setting to the list
-      @param[in] link An instance of the link setting.
-    */
-    void addLinkConfiguration(LinkConfiguration* link);
+    Q_PROPERTY(bool anyActiveLinks                      READ anyActiveLinks                                                     NOTIFY anyActiveLinksChanged)
+    Q_PROPERTY(bool anyNonAutoconnectActiveLinks        READ anyNonAutoconnectActiveLinks                                       NOTIFY anyNonAutoconnectActiveLinksChanged)
+    Q_PROPERTY(bool anyConnectedLinks                   READ anyConnectedLinks                                                  NOTIFY anyConnectedLinksChanged)
+    Q_PROPERTY(bool anyNonAutoconnectConnectedLinks     READ anyNonAutoconnectConnectedLinks                                    NOTIFY anyNonAutoconnectConnectedLinksChanged)
+    Q_PROPERTY(bool autoconnectUDP                      READ autoconnectUDP                     WRITE setAutoconnectUDP         NOTIFY autoconnectUDPChanged)
+    Q_PROPERTY(bool autoconnectPixhawk                  READ autoconnectPixhawk                 WRITE setAutoconnectPixhawk     NOTIFY autoconnectPixhawkChanged)
+    Q_PROPERTY(bool autoconnect3DRRadio                 READ autoconnect3DRRadio                WRITE setAutoconnect3DRRadio    NOTIFY autoconnect3DRRadioChanged)
+    Q_PROPERTY(bool autoconnectPX4Flow                  READ autoconnectPX4Flow                 WRITE setAutoconnectPX4Flow     NOTIFY autoconnectPX4FlowChanged)
+    Q_PROPERTY(QmlObjectListModel* links                READ links                                                              CONSTANT)
+    Q_PROPERTY(QmlObjectListModel* linkConfigurations   READ linkConfigurations                                                 CONSTANT)
+
+    // Property accessors
+
+    bool anyConnectedLinks(void);
+    bool anyNonAutoconnectConnectedLinks(void);
+    bool anyActiveLinks(void);
+    bool anyNonAutoconnectActiveLinks(void);
+    bool autoconnectUDP(void)       { return _autoconnectUDP; }
+    bool autoconnectPixhawk(void)   { return _autoconnectPixhawk; }
+    bool autoconnect3DRRadio(void)  { return _autoconnect3DRRadio; }
+    bool autoconnectPX4Flow(void)   { return _autoconnectPX4Flow; }
+
+    QmlObjectListModel* links(void)                 { return &_links; }
+    QmlObjectListModel* linkConfigurations(void)    { return &_linkConfigurations; }
+
+    void setAutoconnectUDP(bool autoconnect);
+    void setAutoconnectPixhawk(bool autoconnect);
+    void setAutoconnect3DRRadio(bool autoconnect);
+    void setAutoconnectPX4Flow(bool autoconnect);
 
-    /*!
-      Removes (and deletes) an existing link configuration setting from the list
-      @param[in] link An instance of the link setting.
-    */
-    void removeLinkConfiguration(LinkConfiguration* link);
 
     /// Load list of link configurations from disk
     void loadLinkConfigurationList();
@@ -90,19 +109,9 @@ public:
     /// Save list of link configurations from disk
     void saveLinkConfigurationList();
 
-    /// Get a list of the configured links. This is the list of configured links that can be used by QGC.
-    const QList<LinkConfiguration*> getLinkConfigurationList();
-
     /// Suspend automatic confguration updates (during link maintenance for instance)
     void suspendConfigurationUpdates(bool suspend);
 
-    /// Returns list of all links
-    const QList<LinkInterface*> getLinks();
-
-    // Returns list of all serial links
-#ifndef __ios__
-    const QList<SerialLink*> getSerialLinks();
-#endif
     /// Sets the flag to suspend the all new connections
     ///     @param reason User visible reason to suspend connections
     void setConnectionsSuspended(QString reason);
@@ -112,68 +121,85 @@ public:
 
     /// Creates, connects (and adds) a link  based on the given configuration instance.
     /// Link takes ownership of config.
-    LinkInterface* createConnectedLink(LinkConfiguration* config);
+    Q_INVOKABLE LinkInterface* createConnectedLink(LinkConfiguration* config, bool persistenLink = false);
 
     /// Creates, connects (and adds) a link  based on the given configuration name.
-    LinkInterface* createConnectedLink(const QString& name);
-
-    /// Returns true if the link manager is holding this link
-    bool containsLink(LinkInterface* link);
-    
-    /// Returns the QSharedPointer for this link. You must use SharedLinkInterface if you are going to
-    /// keep references to a link in a thread other than the main ui thread.
-    SharedLinkInterface& sharedPointerForLink(LinkInterface* link);
+    LinkInterface* createConnectedLink(const QString& name, bool persistenLink = false);
 
-    /// Re-connects all existing links
-    bool connectAll();
-
-    /// Disconnects all existing links
-    bool disconnectAll();
+    /// Disconnects all existing links, including persistent links.
+    ///     @param disconnectAutoconnectLink See disconnectLink
+    void disconnectAll(bool disconnectAutoconnectLink);
 
     /// Connect the specified link
     bool connectLink(LinkInterface* link);
 
-    /// Disconnect the specified link
-    bool disconnectLink(LinkInterface* link);
-    
-    /// Returns true if there are any connected links
-    bool anyConnectedLinks(void);
+    /// Disconnect the specified link.
+    ///     @param disconnectAutoconnectLink
+    ///                 true: link is disconnected no matter what type
+    ///                 false: if autoconnect link, link is marked as inactive and linkInactive is signalled
+    ///                 false: if not autoconnect link, link is disconnected
+    Q_INVOKABLE bool disconnectLink(LinkInterface* link, bool disconnectAutoconnectLink);
     
+    /// Called to notify that a heartbeat was received with the specified information. Will transition
+    /// a link to active as needed.
+    ///     @param link Heartbeat came through on this link
+    ///     @param vehicleId Mavlink system id for vehicle
+    ///     @param heartbeat Mavlink heartbeat message
+    /// @return true: continue further processing of this message, false: disregard this message
+    bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
+
     // The following APIs are public but should not be called in normal use. The are mainly exposed
     // here for unit test code.
     void _deleteLink(LinkInterface* link);
     void _addLink(LinkInterface* link);
 
+    // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
+    void shutdown(void);
+
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
 
 signals:
+    void anyActiveLinksChanged(bool anyActiveLinks);
+    void anyNonAutoconnectActiveLinksChanged(bool anyNonAutoconnectActiveLinks);
+    void anyConnectedLinksChanged(bool anyConnectedLinks);
+    void anyNonAutoconnectConnectedLinksChanged(bool anyNoAutoconnectConnectedLinks);
+    void autoconnectUDPChanged(bool autoconnect);
+    void autoconnectPixhawkChanged(bool autoconnect);
+    void autoconnect3DRRadioChanged(bool autoconnect);
+    void autoconnectPX4FlowChanged(bool autoconnect);
+
     void newLink(LinkInterface* link);
+
+    // Link has been deleted. You may not necessarily get a linkInactive before the link is deleted.
     void linkDeleted(LinkInterface* link);
+
+    // Link has been connected, but no Vehicle seen on link yet.
     void linkConnected(LinkInterface* link);
+
+    // Link disconnected, all vehicles on link should be gone as well.
     void linkDisconnected(LinkInterface* link);
+
+    // New vehicle has been seen on the link.
+    void linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);
+
+    // No longer hearing from any vehicles on this link.
+    void linkInactive(LinkInterface* link);
+
     void linkConfigurationChanged();
 
 private slots:
     void _linkConnected(void);
     void _linkDisconnected(void);
+    void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
 
 private:
-    virtual void _shutdown(void);
-
     bool _connectionsSuspendedMsg(void);
-    void _updateConfigurationList(void);
+    void _updateAutoConnectLinks(void);
+
 #ifndef __ios__
-    SerialConfiguration* _findSerialConfiguration(const QString& portName);
+    SerialConfiguration* _autoconnectConfigurationsContainsPort(const QString& portName);
 #endif
-    QList<LinkConfiguration*>   _linkConfigurations;    ///< List of configured links
-    
-    /// List of available links kept as QSharedPointers. We use QSharedPointer since
-    /// there are other objects that maintain copies of these links in other threads.
-    /// The reference counting allows for orderly deletion.
-    QList<SharedLinkInterface>  _links;
-    
-    QMutex                      _linkListMutex;         ///< Mutex for thread safe access to _links list
 
     bool    _configUpdateSuspended;                     ///< true: stop updating configuration list
     bool    _configurationsLoaded;                      ///< true: Link configurations have been loaded
@@ -183,10 +209,25 @@ private:
     QTimer  _portListTimer;
 #endif
     uint32_t _mavlinkChannelsUsedBitMask;
-    
-    SharedLinkInterface _nullSharedLink;
 
     MAVLinkProtocol*    _mavlinkProtocol;
+    QList<int>          _ignoreVehicleIds;  ///< List of vehicle id for which we ignore further communication
+
+    QmlObjectListModel  _links;
+    QmlObjectListModel  _linkConfigurations;
+    QmlObjectListModel  _autoconnectConfigurations;
+    UDPConfiguration*   _autoconnectUDPConfig;
+
+    bool _autoconnectUDP;
+    bool _autoconnectPixhawk;
+    bool _autoconnect3DRRadio;
+    bool _autoconnectPX4Flow;
+
+    static const char* _settingsGroup;
+    static const char* _autoconnectUDPKey;
+    static const char* _autoconnectPixhawkKey;
+    static const char* _autoconnect3DRRadioKey;
+    static const char* _autoconnectPX4FlowKey;
 };
 
 #endif

src/comm/LogReplayLink.cc

@@ -102,7 +102,7 @@ LogReplayLink::~LogReplayLink(void)
 bool LogReplayLink::_connect(void)
 {
     // Disallow replay when any links are connected
-    if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
+    if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
         emit communicationError(_errorTitle, "You must close all connections prior to replaying a log.");
         return false;
     }
@@ -115,7 +115,7 @@ bool LogReplayLink::_connect(void)
     return true;
 }
 
-bool LogReplayLink::_disconnect(void)
+void LogReplayLink::_disconnect(void)
 {
     if (_connected) {
         quit();
@@ -123,7 +123,6 @@ bool LogReplayLink::_disconnect(void)
         _connected = false;
         emit disconnected();
     }
-    return true;
 }
 
 void LogReplayLink::run(void)
@@ -366,7 +365,6 @@ void LogReplayLink::_readNextLogEntry(void)
 
 void LogReplayLink::_play(void)
 {
-    // FIXME: With move to link I don't think this is needed any more? Except for the replay widget handling multi-uas?
     qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
 #ifndef __mobile__
     qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(true);

src/comm/LogReplayLink.h

@@ -33,6 +33,8 @@
 
 class LogReplayLinkConfiguration : public LinkConfiguration
 {
+    Q_OBJECT
+
 public:
     LogReplayLinkConfiguration(const QString& name);
     LogReplayLinkConfiguration(LogReplayLinkConfiguration* copy);
@@ -130,7 +132,7 @@ private:
     
     // Virtuals from LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
     
     // Virtuals from QThread
     virtual void run(void);

src/comm/MAVLinkProtocol.cc

@@ -193,13 +193,6 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
     Q_ASSERT(link);
     
     if (connected) {
-        foreach (SharedLinkInterface sharedLink, _connectedLinks) {
-            Q_ASSERT(sharedLink.data() != link);
-        }
-        
-        // Use the same shared pointer as LinkManager
-        _connectedLinks.append(_linkMgr->sharedPointerForLink(link));
-        
         if (link->requiresUSBMavlinkStart()) {
             // Send command to start MAVLink
             // XXX hacky but safe
@@ -210,17 +203,6 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
             link->writeBytes(cmd, strlen(cmd));
             link->writeBytes(init, 4);
         }
-    } else {
-        bool found = false;
-        for (int i=0; i<_connectedLinks.count(); i++) {
-            if (_connectedLinks[i].data() == link) {
-                found = true;
-                _connectedLinks.removeAt(i);
-                break;
-            }
-        }
-        Q_UNUSED(found);
-        Q_ASSERT(found);
     }
 }
 
@@ -236,7 +218,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     // Since receiveBytes signals cross threads we can end up with signals in the queue
     // that come through after the link is disconnected. For these we just drop the data
     // since the link is closed.
-    if (!_linkMgr->containsLink(link)) {
+    if (!_linkMgr->links()->contains(link)) {
         return;
     }
     
@@ -300,7 +282,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 {
                     mavlink_message_t msg;
                     mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
-                    sendMessage(msg);
+                    _sendMessage(msg);
                 }
             }
 
@@ -359,12 +341,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 _startLogging();
 #endif
 
-                // Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
                 mavlink_heartbeat_t heartbeat;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
-                if (!_multiVehicleManager->notifyHeartbeatInfo(link, message.sysid, heartbeat)) {
-                    continue;
-                }
+                emit vehicleHeartbeatInfo(link, message.sysid, heartbeat.mavlink_version, heartbeat.autopilot, heartbeat.type);
             }
 
             // Increase receive counter
@@ -417,15 +396,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             // Multiplex message if enabled
             if (m_multiplexingEnabled)
             {
-                // Get all links connected to this unit
-                QList<LinkInterface*> links = _linkMgr->getLinks();
-
                 // Emit message on all links that are currently connected
-                foreach (LinkInterface* currLink, links)
-                {
+                for (int i=0; i<_linkMgr->links()->count(); i++) {
+                    LinkInterface* currLink = _linkMgr->links()->value<LinkInterface*>(i);
+
                     // Only forward this message to the other links,
                     // not the link the message was received on
-                    if (currLink != link) sendMessage(currLink, message, message.sysid, message.compid);
+                    if (currLink && currLink != link) _sendMessage(currLink, message, message.sysid, message.compid);
                 }
             }
         }
@@ -460,17 +437,11 @@ int MAVLinkProtocol::getComponentId()
 /**
  * @param message message to send
  */
-void MAVLinkProtocol::sendMessage(mavlink_message_t message)
+void MAVLinkProtocol::_sendMessage(mavlink_message_t message)
 {
-    // Get all links connected to this unit
-    QList<LinkInterface*> links = _linkMgr->getLinks();
-
-    // Emit message on all links that are currently connected
-    QList<LinkInterface*>::iterator i;
-    for (i = links.begin(); i != links.end(); ++i)
-    {
-        sendMessage(*i, message);
-//        qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
+    for (int i=0; i<_linkMgr->links()->count(); i++) {
+        LinkInterface* link = _linkMgr->links()->value<LinkInterface*>(i);
+        _sendMessage(link, message);
     }
 }
 
@@ -478,7 +449,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
  * @param link the link to send the message over
  * @param message message to send
  */
-void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message)
+void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Create buffer
     static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
@@ -501,7 +472,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
  * @param systemid id of the system the message is originating from
  * @param componentid id of the component the message is originating from
  */
-void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
+void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
 {
     // Create buffer
     static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
@@ -529,7 +500,7 @@ void MAVLinkProtocol::sendHeartbeat()
     {
         mavlink_message_t beat;
         mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
-        sendMessage(beat);
+        _sendMessage(beat);
     }
     if (m_authEnabled)
     {
@@ -538,7 +509,7 @@ void MAVLinkProtocol::sendHeartbeat()
         memset(&auth, 0, sizeof(auth));
         memcpy(auth.key, m_authKey.toStdString().c_str(), qMin(m_authKey.length(), MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN));
         mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
-        sendMessage(msg);
+        _sendMessage(msg);
     }
 }
 

src/comm/MAVLinkProtocol.h

@@ -158,12 +158,6 @@ public slots:
     void linkConnected(void);
     void linkDisconnected(void);
     
-    /** @brief Send MAVLink message through serial interface */
-    void sendMessage(mavlink_message_t message);
-    /** @brief Send MAVLink message */
-    void sendMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send MAVLink message with correct system / component ID */
-    void sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
     /** @brief Set the rate at which heartbeats are emitted */
     void setHeartbeatRate(int rate);
     /** @brief Set the system id of this application */
@@ -238,6 +232,9 @@ protected:
     int systemId;
 
 signals:
+    /// Heartbeat received on link
+    void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
+
     /** @brief Message received and directly copied via signal */
     void messageReceived(LinkInterface* link, mavlink_message_t message);
     /** @brief Emitted if heartbeat emission mode is changed */
@@ -289,6 +286,9 @@ private slots:
     
 private:
     void _linkStatusChanged(LinkInterface* link, bool connected);
+    void _sendMessage(mavlink_message_t message);
+    void _sendMessage(LinkInterface* link, mavlink_message_t message);
+    void _sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid);
 
 #ifndef __mobile__
     bool _closeLogFile(void);
@@ -303,12 +303,7 @@ private:
     static const char*  _tempLogFileTemplate;    ///< Template for temporary log file
     static const char*  _logFileExtension;       ///< Extension for log files
 #endif
-    
-    /// List of all links connected to protocol. We keep SharedLinkInterface objects
-    /// which are QSharedPointer's in order to maintain reference counts across threads.
-    /// This way Link deletion works correctly.
-    QList<SharedLinkInterface> _connectedLinks;
-    
+
     QTimer  _heartbeatTimer;    ///< Timer to emit heartbeats
     int     _heartbeatRate;     ///< Heartbeat rate, controls the timer interval
     bool    _heartbeatsEnabled; ///< Enabled/disable heartbeat emission

src/comm/MockLink.cc

@@ -98,6 +98,7 @@ MockLink::MockLink(MockConfiguration* config)
         _firmwareType = config->firmwareType();
         _vehicleType = config->vehicleType();
         _sendStatusText = config->sendStatusText();
+        _config->setLink(this);
     }
 
     union px4_custom_mode   px4_cm;
@@ -136,7 +137,7 @@ bool MockLink::_connect(void)
     return true;
 }
 
-bool MockLink::_disconnect(void)
+void MockLink::_disconnect(void)
 {
     if (_connected) {
         _connected = false;
@@ -144,8 +145,6 @@ bool MockLink::_disconnect(void)
         wait();
         emit disconnected();
     }
-
-    return true;
 }
 
 void MockLink::run(void)

src/comm/MockLink.h

@@ -37,6 +37,8 @@ Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
 
 class MockConfiguration : public LinkConfiguration
 {
+    Q_OBJECT
+
 public:
     MockConfiguration(const QString& name);
     MockConfiguration(MockConfiguration* source);
@@ -146,7 +148,7 @@ private slots:
 private:
     // From LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
 
     // QThread override
     virtual void run(void);

src/comm/SerialLink.cc

@@ -124,7 +124,7 @@ void SerialLink::readBytes()
  *
  * @return True if connection has been disconnected, false if connection couldn't be disconnected.
  **/
-bool SerialLink::_disconnect(void)
+void SerialLink::_disconnect(void)
 {
     if (_port) {
         _port->close();
@@ -135,7 +135,6 @@ bool SerialLink::_disconnect(void)
 #ifdef __android__
     qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
 #endif
-    return true;
 }
 
 /**

src/comm/SerialLink.h

@@ -59,6 +59,8 @@ Q_DECLARE_LOGGING_CATEGORY(SerialLinkLog)
 
 class SerialConfiguration : public LinkConfiguration
 {
+    Q_OBJECT
+
 public:
 
     SerialConfiguration(const QString& name);
@@ -158,7 +160,7 @@ private:
     
     // From LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
 
     // Internal methods
     void _emitLinkError(const QString& errorMsg);

src/comm/TCPLink.cc

@@ -124,18 +124,16 @@ void TCPLink::readBytes()
  *
  * @return True if connection has been disconnected, false if connection couldn't be disconnected.
  **/
-bool TCPLink::_disconnect(void)
+void TCPLink::_disconnect(void)
 {
 	quit();
 	wait();
-    if (_socket)
-	{
+    if (_socket) {
         _socketIsConnected = false;
 		_socket->deleteLater(); // Make sure delete happens on correct thread
 		_socket = NULL;
         emit disconnected();
 	}
-    return true;
 }
 
 /**

src/comm/TCPLink.h

@@ -52,6 +52,8 @@ class TCPLinkUnitTest;
 
 class TCPConfiguration : public LinkConfiguration
 {
+    Q_OBJECT
+
 public:
 
     /*!
@@ -164,7 +166,7 @@ private:
     
     // From LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
 
     bool _hardwareConnect();
     void _restartConnection();

src/comm/UDPLink.cc

@@ -281,7 +281,7 @@ void UDPLink::readBytes()
  *
  * @return True if connection has been disconnected, false if connection couldn't be disconnected.
  **/
-bool UDPLink::_disconnect(void)
+void UDPLink::_disconnect(void)
 {
     _running = false;
     quit();
@@ -293,7 +293,6 @@ bool UDPLink::_disconnect(void)
         emit disconnected();
     }
     _connectState = false;
-    return true;
 }
 
 /**

src/comm/UDPLink.h

@@ -52,6 +52,8 @@ This file is part of the QGROUNDCONTROL project
 
 class UDPConfiguration : public LinkConfiguration
 {
+    Q_OBJECT
+
 public:
 
     /*!
@@ -203,7 +205,7 @@ private:
     
     // From LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
 
     bool _hardwareConnect();
     void _restartConnection();

src/comm/XbeeLink.cpp

@@ -158,7 +158,7 @@ bool XbeeLink::_connect(void)
     return true;
 }
 
-bool XbeeLink::_disconnect(void)
+void XbeeLink::_disconnect(void)
 {
 	if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
 
@@ -170,7 +170,6 @@ bool XbeeLink::_disconnect(void)
 	this->m_connected = false;
 
 	emit disconnected();
-	return true;
 }
 
 void XbeeLink::writeBytes(const char *bytes, qint64 length)  // TO DO: delete the data array

src/comm/XbeeLink.h

@@ -67,7 +67,7 @@ protected:
 private:
     // From LinkInterface
     virtual bool _connect(void);
-    virtual bool _disconnect(void);
+    virtual void _disconnect(void);
 
     bool hardwareConnect();
 	//void CALLTYPE portCallback(xbee_con *XbeeCon, xbee_pkt *XbeePkt);

src/qgcunittest/LinkManagerTest.cc

@@ -71,30 +71,29 @@ void LinkManagerTest::cleanup(void)
 void LinkManagerTest::_add_test(void)
 {
     Q_ASSERT(_linkMgr);
-    Q_ASSERT(_linkMgr->getLinks().count() == 0);
+    Q_ASSERT(_linkMgr->links()->count() == 0);
     
     _connectMockLink();
     
-    QList<LinkInterface*> links = _linkMgr->getLinks();
-    QCOMPARE(links.count(), 1);
-    QCOMPARE(dynamic_cast<MockLink*>(links[0]), _mockLink);
+    QCOMPARE(_linkMgr->links()->count(), 1);
+    QCOMPARE(_linkMgr->links()->value<MockLink*>(0), _mockLink);
 }
 
 void LinkManagerTest::_delete_test(void)
 {
     Q_ASSERT(_linkMgr);
-    Q_ASSERT(_linkMgr->getLinks().count() == 0);
+    Q_ASSERT(_linkMgr->links()->count() == 0);
     
     _connectMockLink();
     _disconnectMockLink();
     
-    QCOMPARE(_linkMgr->getLinks().count(), 0);
+    QCOMPARE(_linkMgr->links()->count(), 0);
 }
 
 void LinkManagerTest::_addSignals_test(void)
 {
     Q_ASSERT(_linkMgr);
-    Q_ASSERT(_linkMgr->getLinks().count() == 0);
+    Q_ASSERT(_linkMgr->links()->count() == 0);
     Q_ASSERT(_multiSpy->checkNoSignals() == true);
     
     _connectMockLink();
@@ -114,7 +113,7 @@ void LinkManagerTest::_addSignals_test(void)
 void LinkManagerTest::_deleteSignals_test(void)
 {
     Q_ASSERT(_linkMgr);
-    Q_ASSERT(_linkMgr->getLinks().count() == 0);
+    Q_ASSERT(_linkMgr->links()->count() == 0);
     Q_ASSERT(_multiSpy->checkNoSignals() == true);
     
     _connectMockLink();

src/qgcunittest/UnitTest.cc

@@ -387,7 +387,7 @@ void UnitTest::_disconnectMockLink(void)
     if (_mockLink) {
         QSignalSpy  linkSpy(_linkManager, SIGNAL(linkDeleted(LinkInterface*)));
 
-        _linkManager->disconnectLink(_mockLink);
+        _linkManager->disconnectLink(_mockLink, false /* disconnectAutoconnectLink */);
 
         // Wait for link to go away
         linkSpy.wait(1000);

src/ui/MAVLinkSettingsWidget.cc

@@ -141,12 +141,14 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
     QString hostString = m_ui->droneOSComboBox->currentText();
     //QString host = hostString.split(":").first();
 
+    LinkManager*    linkMgr = qgcApp()->toolbox()->linkManager();
+    UDPLink*        firstUdp = NULL;
+
     // Delete from all lists first
-    UDPLink* firstUdp = NULL;
-    QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
-    foreach (LinkInterface* link, links)
-    {
-        UDPLink* udp = dynamic_cast<UDPLink*>(link);
+    for (int i=0; i<linkMgr->links()->count(); i++) {
+        LinkInterface*  link = linkMgr->links()->value<LinkInterface*>(i);
+        UDPLink*        udp = qobject_cast<UDPLink*>(link);
+
         if (udp)
         {
             if (!firstUdp) firstUdp = udp;

src/ui/MainWindow.cc

@@ -208,10 +208,6 @@ MainWindow::MainWindow()
     connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
 #endif //QGC_MOUSE_ENABLED_LINUX
 
-    // These also cause the screen to redraw so we need to update any OpenGL canvases in QML controls
-    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkConnected,    this, &MainWindow::_linkStateChange);
-    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange);
-
     // Connect link
     if (_autoReconnect)
     {
@@ -445,7 +441,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
                 QMessageBox::Yes | QMessageBox::Cancel,
                 QMessageBox::Cancel);
         if (button == QMessageBox::Yes) {
-            qgcApp()->toolbox()->linkManager()->disconnectAll();
+            qgcApp()->toolbox()->linkManager()->shutdown();
             // The above disconnect causes a flurry of activity as the vehicle components are removed. This in turn
             // causes the Windows Version of Qt to crash if you allow the close event to be accepted. In order to prevent
             // the crash, we ignore the close event and setup a delayed timer to close the window after things settle down.
@@ -456,11 +452,17 @@ void MainWindow::closeEvent(QCloseEvent *event)
         return;
     }
 
+    // We still need to shutdown LinkManager even though no active connections so that we don't get any
+    // more auto-connect links during shutdown.
+    qgcApp()->toolbox()->linkManager()->shutdown();
+
     // This will process any remaining flight log save dialogs
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
 
     // Should not be any active connections
-    Q_ASSERT(!qgcApp()->toolbox()->linkManager()->anyConnectedLinks());
+    if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
+        qWarning() << "All links should be disconnected by now";
+    }
 
     // We have to pull out the QmlWidget from the main window and delete it here, before
     // the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow
@@ -649,11 +651,6 @@ void MainWindow::restoreLastUsedConnection()
     }
 }
 
-void MainWindow::_linkStateChange(LinkInterface*)
-{
-    emit repaintCanvas();
-}
-
 #ifdef QGC_MOUSE_ENABLED_LINUX
 bool MainWindow::x11Event(XEvent *event)
 {

src/ui/MainWindow.h

@@ -159,8 +159,6 @@ signals:
     void initStatusChanged(const QString& message, int alignment, const QColor &color);
     /** Emitted when any value changes from any source */
     void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec);
-    /** Emitted when any the Canvas elements within QML wudgets need updating */
-    void repaintCanvas();
 
     // Used for unit tests to know when the main window closes
     void mainWindowClosed(void);
@@ -213,7 +211,6 @@ protected:
     QTimer windowNameUpdateTimer;
 
 private slots:
-    void _linkStateChange(LinkInterface*);
     void _closeWindow(void) { close(); }
     void _vehicleAdded(Vehicle* vehicle);
 

src/ui/QGCLinkConfiguration.cc

@@ -32,6 +32,8 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_QGCLinkConfiguration.h"
 #include "QGCCommConfiguration.h"
 #include "QGCMessageBox.h"
+#include "UDPLink.h"
+#include "TCPLink.h"
 
 QGCLinkConfiguration::QGCLinkConfiguration(QWidget *parent) :
     QWidget(parent),
@@ -69,14 +71,17 @@ void QGCLinkConfiguration::on_delLinkButton_clicked()
                 QMessageBox::Cancel);
             if (button == QMessageBox::Yes) {
                 // Get link attached to this configuration (if any)
-                LinkInterface* iface = config->getLink();
+                LinkInterface* iface = config->link();
                 if(iface) {
-                    // Disconnect it (if connected)
-                    qgcApp()->toolbox()->linkManager()->disconnectLink(iface);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(iface, false /* disconnectAutoconnectLink */);
                 }
                 _viewModel->beginChange();
+
                 // Remove configuration
-                qgcApp()->toolbox()->linkManager()->removeLinkConfiguration(config);
+                QmlObjectListModel* linkConfigurations = qgcApp()->toolbox()->linkManager()->linkConfigurations();
+                linkConfigurations->removeOne(config);
+                delete config;
+
                 // Save list
                 qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
                 _viewModel->endChange();
@@ -97,11 +102,11 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
     if(index.row() >= 0) {
         LinkConfiguration* config = _viewModel->getConfiguration(index.row());
         if(config) {
-            LinkInterface* link = config->getLink();
+            LinkInterface* link = config->link();
             if(link) {
                 // Disconnect Link
                 if (link->isConnected()) {
-                    qgcApp()->toolbox()->linkManager()->disconnectLink(link);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(link, false /* disconnectAutoconnectLink */);
                 }
             } else {
                 LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(config);
@@ -186,7 +191,7 @@ void QGCLinkConfiguration::on_addLinkButton_clicked()
         if(config) {
             _fixUnnamed(config);
             _viewModel->beginChange();
-            qgcApp()->toolbox()->linkManager()->addLinkConfiguration(commDialog->getConfig());
+            qgcApp()->toolbox()->linkManager()->linkConfigurations()->append(commDialog->getConfig());
             qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
             _viewModel->endChange();
         }
@@ -240,7 +245,7 @@ void QGCLinkConfiguration::_updateButtons()
             if(config->isDynamic()) {
                 deleteEnabled = false;
             }
-            LinkInterface* link = config->getLink();
+            LinkInterface* link = config->link();
             if(link) {
                 _ui->connectLinkButton->setText("Disconnect");
             } else {
@@ -261,16 +266,13 @@ LinkViewModel::LinkViewModel(QObject *parent) : QAbstractListModel(parent)
 int LinkViewModel::rowCount( const QModelIndex & parent) const
 {
     Q_UNUSED(parent);
-    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
-    int count = cfgList.count();
-    return count;
+    return qgcApp()->toolbox()->linkManager()->linkConfigurations()->count();
 }
 
 QVariant LinkViewModel::data( const QModelIndex & index, int role) const
 {
-    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
-    if (role == Qt::DisplayRole && index.row() < cfgList.count()) {
-        QString name(cfgList.at(index.row())->name());
+    if (role == Qt::DisplayRole && index.row() < rowCount()) {
+        QString name(qgcApp()->toolbox()->linkManager()->linkConfigurations()->value<LinkConfiguration*>(index.row())->name());
         return name;
     }
     return QVariant();
@@ -278,9 +280,8 @@ QVariant LinkViewModel::data( const QModelIndex & index, int role) const
 
 LinkConfiguration* LinkViewModel::getConfiguration(int row)
 {
-    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
-    if(row < cfgList.count()) {
-        return cfgList.at(row);
+    if(row < rowCount()) {
+        return qgcApp()->toolbox()->linkManager()->linkConfigurations()->value<LinkConfiguration*>(row);
     }
     return NULL;
 }

src/ui/QGCMAVLinkInspector.cc

@@ -490,7 +490,10 @@ void QGCMAVLinkInspector::changeStreamInterval(int msgid, int interval)
     mavlink_message_t msg;
     mavlink_msg_request_data_stream_encode(_protocol->getSystemId(), _protocol->getComponentId(), &msg, &stream);
 
+#if 0
+    // FIXME: Is this really used?
     _protocol->sendMessage(msg);
+#endif
 }
 
 void QGCMAVLinkInspector::rateTreeItemChanged(QTreeWidgetItem* paramItem, int column)

src/ui/QGCMAVLinkLogPlayer.cc

@@ -60,7 +60,7 @@ void QGCMAVLinkLogPlayer::_pause(void)
 void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
 {
     // Disallow replay when any links are connected
-    if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
+    if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
         QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
         return;
     }
@@ -188,4 +188,4 @@ void QGCMAVLinkLogPlayer::_replayLinkDisconnected(void)
 {
     _enablePlaybackControls(false);
     _replayLink = NULL;
-}
+}
\ No newline at end of file

src/ui/preferences/GeneralSettings.qml

@@ -181,6 +181,34 @@ Rectangle {
                     }
                 }
             }
+
+            //-----------------------------------------------------------------
+            //-- Autoconnect settings
+            QGCLabel { text: "Autoconnect to the following devices:" }
+
+            QGCCheckBox {
+                text:       "Pixhawk"
+                checked:    QGroundControl.linkManager.autoconnectPixhawk
+                onClicked:  QGroundControl.linkManager.autoconnectPixhawk = checked
+            }
+
+            QGCCheckBox {
+                text:       "3DR Radio"
+                checked:    QGroundControl.linkManager.autoconnect3DRRadio
+                onClicked:  QGroundControl.linkManager.autoconnect3DRRadio = checked
+            }
+
+            QGCCheckBox {
+                text:       "PX4 Flow"
+                checked:    QGroundControl.linkManager.autoconnectPX4Flow
+                onClicked:  QGroundControl.linkManager.autoconnectPX4Flow = checked
+            }
+
+            QGCCheckBox {
+                text:       "UDP"
+                checked:    QGroundControl.linkManager.autoconnectUDP
+                onClicked:  QGroundControl.linkManager.autoconnectUDP = checked
+            }
         }
     }
 }

src/ui/toolbar/MainToolBar.qml

@@ -31,6 +31,7 @@ import QtQuick 2.5
 import QtQuick.Controls 1.2
 import QtQuick.Controls.Styles 1.2
 
+import QGroundControl                       1.0
 import QGroundControl.Controls              1.0
 import QGroundControl.FactControls          1.0
 import QGroundControl.Palette               1.0
@@ -152,7 +153,7 @@ Rectangle {
     }
 
     function showMavStatus() {
-         return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0 && _controller.connectionCount > 0);
+         return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0);
     }
 
     Component.onCompleted: {
@@ -250,7 +251,7 @@ Rectangle {
     Item {
         visible:                showMavStatus() && !connectionStatus.visible
         height:                 mainWindow.tbCellHeight
-        width:                  (toolBar.width - viewRow.width - connectRow.width)
+        width:                  (toolBar.width - viewRow.width)
         anchors.left:           viewRow.right
         anchors.leftMargin:     mainWindow.tbSpacing * 2
         anchors.verticalCenter: parent.verticalCenter
@@ -273,125 +274,6 @@ Rectangle {
         anchors.verticalCenter: parent.verticalCenter
     }
 
-    Row {
-        id:                     connectRow
-        height:                 mainWindow.tbCellHeight
-        spacing:                mainWindow.tbSpacing
-        anchors.rightMargin:    mainWindow.tbSpacing
-        anchors.right:          parent.right
-        anchors.verticalCenter: parent.verticalCenter
-
-        Menu {
-            id: connectMenu
-            Component.onCompleted: {
-                _controller.configListChanged.connect(connectMenu.updateConnectionList);
-                connectMenu.updateConnectionList();
-            }
-            function addMenuEntry(name) {
-                var label = "Add Connection"
-                if(name !== "")
-                    label = name;
-                var mItem = connectMenu.addItem(label);
-                var menuSlot = function() {_controller.onConnect(name)};
-                mItem.triggered.connect(menuSlot);
-            }
-            function updateConnectionList() {
-                connectMenu.clear();
-                for(var i = 0; i < _controller.configList.length; i++) {
-                    connectMenu.addMenuEntry(_controller.configList[i]);
-                }
-                if(_controller.configList.length > 0) {
-                    connectMenu.addSeparator();
-                }
-                // Add "Add Connection" to the list
-                connectMenu.addMenuEntry("");
-            }
-        }
-
-        Rectangle {
-            height: mainWindow.tbCellHeight
-            width:  1
-            color: Qt.rgba(1,1,1,0.45)
-        }
-
-        QGCToolBarButton {
-            id:             connectButton
-            width:          mainWindow.tbButtonWidth
-            height:         mainWindow.tbCellHeight
-            visible:        _controller.connectionCount === 0
-            source:         "/qmlimages/Connect.svg"
-            checked:        false
-            onClicked: {
-                checked = false
-                connectMenu.popup()
-                /*
-                console.log("Main Window Width:   " + mainWindow.width)
-                console.log("Toolbar height:      " + toolBar.height)
-                console.log("Default font:        " + ScreenTools.defaultFontPixelSize)
-                console.log("Font (.75):          " + ScreenTools.defaultFontPixelSize * 0.75)
-                console.log("Font (.85):          " + ScreenTools.defaultFontPixelSize * 0.85)
-                console.log("Font 1.5):           " + ScreenTools.defaultFontPixelSize * 1.5)
-                console.log("Default Font Width:  " + ScreenTools.defaultFontPixelWidth)
-                console.log("Default Font Height: " + ScreenTools.defaultFontPixelHeight)
-                console.log("--")
-                console.log("Real Font Height:    " + ScreenTools.realFontHeight)
-                console.log("fontHRatio:          " + ScreenTools.fontHRatio)
-                console.log("--")
-                console.log("cellHeight:          " + cellHeight)
-                console.log("tbFontSmall:         " + tbFontSmall);
-                console.log("tbFontNormal:        " + tbFontNormal);
-                console.log("tbFontLarge:         " + tbFontLarge);
-                console.log("mainWindow.tbSpacing:           " + tbSpacing);
-                */
-            }
-        }
-
-        QGCToolBarButton {
-            id:             disconnectButton
-            width:          mainWindow.tbButtonWidth
-            height:         mainWindow.tbCellHeight
-            visible:        _controller.connectionCount === 1
-            source:         "/qmlimages/Disconnect.svg"
-            checked:        false
-            onClicked: {
-                checked = false
-                _controller.onDisconnect("");
-            }
-        }
-
-        Menu {
-            id: disconnectMenu
-            Component.onCompleted: {
-                _controller.connectedListChanged.connect(disconnectMenu.onConnectedListChanged)
-            }
-            function addMenuEntry(name) {
-                var mItem = disconnectMenu.addItem(name);
-                var menuSlot = function() {_controller.onDisconnect(name)};
-                mItem.triggered.connect(menuSlot);
-            }
-            function onConnectedListChanged(conList) {
-                disconnectMenu.clear();
-                for(var i = 0; i < conList.length; i++) {
-                    disconnectMenu.addMenuEntry(conList[i]);
-                }
-            }
-        }
-
-        QGCToolBarButton {
-            id:             multidisconnectButton
-            width:          mainWindow.tbButtonWidth
-            height:         mainWindow.tbCellHeight
-            visible:        _controller.connectionCount > 1
-            source:         "/qmlimages/Disconnect.svg"
-            checked:        false
-            onClicked: {
-                checked = false
-                disconnectMenu.popup()
-            }
-        }
-
-    }
-
     // Progress bar
     Rectangle {
         id:             progressBar

src/ui/toolbar/MainToolBarController.cc

@@ -43,24 +43,14 @@ MainToolBarController::MainToolBarController(QObject* parent)
     : QObject(parent)
     , _vehicle(NULL)
     , _mav(NULL)
-    , _connectionCount(0)
     , _progressBarValue(0.0f)
-    , _remoteRSSI(0)
-    , _remoteRSSIstore(100.0)
     , _telemetryRRSSI(0)
     , _telemetryLRSSI(0)
     , _rollDownMessages(0)
     , _toolbarMessageVisible(false)
 {
-    emit configListChanged();
-    emit connectionCountChanged(_connectionCount);
     _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
     
-    // Link signals
-    connect(qgcApp()->toolbox()->linkManager(),     &LinkManager::linkConfigurationChanged, this, &MainToolBarController::_updateConfigurations);
-    connect(qgcApp()->toolbox()->linkManager(),     &LinkManager::linkConnected,            this, &MainToolBarController::_linkConnected);
-    connect(qgcApp()->toolbox()->linkManager(),     &LinkManager::linkDisconnected,         this, &MainToolBarController::_linkDisconnected);
-    
     // RSSI (didn't like standard connection)
     connect(qgcApp()->toolbox()->mavlinkProtocol(),
         SIGNAL(radioStatusChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned)), this,
@@ -89,54 +79,6 @@ void MainToolBarController::onFlyView()
     MainWindow::instance()->showFlyView();
 }
 
-void MainToolBarController::onDisconnect(QString conf)
-{
-    if(conf.isEmpty()) {
-        // Disconnect Only Connected Link
-        int connectedCount = 0;
-        LinkInterface* connectedLink = NULL;
-        QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
-        foreach(LinkInterface* link, links) {
-            if (link->isConnected()) {
-                connectedCount++;
-                connectedLink = link;
-            }
-        }
-        Q_ASSERT(connectedCount   == 1);
-        Q_ASSERT(_connectionCount == 1);
-        Q_ASSERT(connectedLink);
-        qgcApp()->toolbox()->linkManager()->disconnectLink(connectedLink);
-    } else {
-        // Disconnect Named Connected Link
-        QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
-        foreach(LinkInterface* link, links) {
-            if (link->isConnected()) {
-                if(link->getLinkConfiguration() && link->getLinkConfiguration()->name() == conf) {
-                    qgcApp()->toolbox()->linkManager()->disconnectLink(link);
-                }
-            }
-        }
-    }
-}
-
-void MainToolBarController::onConnect(QString conf)
-{
-    // Connect Link
-    if(conf.isEmpty()) {
-        MainWindow::instance()->manageLinks();
-    } else {
-        // We don't want the list updating under our feet
-        qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
-        // Create a link
-        LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(conf);
-        if(link) {
-            // Save last used connection
-            MainWindow::instance()->saveLastUsedConnection(conf);
-        }
-        qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
-    }
-}
-
 void MainToolBarController::onEnterMessageArea(int x, int y)
 {
     Q_UNUSED(x);
@@ -177,7 +119,6 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
 {
     // Disconnect the previous one (if any)
     if (_vehicle) {
-        disconnect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBarController::_remoteControlRSSIChanged);
         disconnect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
         _mav = NULL;
         _vehicle = NULL;
@@ -188,109 +129,21 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
     {
         _vehicle = vehicle;
         _mav = vehicle->uas();
-        connect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBarController::_remoteControlRSSIChanged);
         connect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
     }
 }
 
-void MainToolBarController::_updateConfigurations()
-{
-    QStringList tmpList;
-    QList<LinkConfiguration*> configs = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
-    foreach(LinkConfiguration* conf, configs) {
-        if(conf) {
-            if(conf->isPreferred()) {
-                tmpList.insert(0,conf->name());
-            } else {
-                tmpList << conf->name();
-            }
-        }
-    }
-    // Any changes?
-    if(tmpList != _linkConfigurations) {
-        _linkConfigurations = tmpList;
-        emit configListChanged();
-    }
-}
-
 void MainToolBarController::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned remrssi, unsigned, unsigned, unsigned)
 {
-    // We only care if we haveone single connection
-    if(_connectionCount == 1) {
-        if((unsigned)_telemetryLRSSI != rssi) {
-            // According to the Silabs data sheet, the RSSI value is 0.5db per bit
-            _telemetryLRSSI = rssi >> 1;
-            emit telemetryLRSSIChanged(_telemetryLRSSI);
-        }
-        if((unsigned)_telemetryRRSSI != remrssi) {
-            // According to the Silabs data sheet, the RSSI value is 0.5db per bit
-            _telemetryRRSSI = remrssi >> 1;
-            emit telemetryRRSSIChanged(_telemetryRRSSI);
-        }
-    }
-}
-
-void MainToolBarController::_remoteControlRSSIChanged(uint8_t rssi)
-{
-    // We only care if we have one single connection
-    if(_connectionCount == 1) {
-        // Low pass to git rid of jitter
-        _remoteRSSIstore = (_remoteRSSIstore * 0.9f) + ((float)rssi * 0.1);
-        uint8_t filteredRSSI = (uint8_t)ceil(_remoteRSSIstore);
-        if(_remoteRSSIstore < 0.1) {
-            filteredRSSI = 0;
-        }
-        if(_remoteRSSI != filteredRSSI) {
-            _remoteRSSI = filteredRSSI;
-            emit remoteRSSIChanged(_remoteRSSI);
-        }
-    }
-}
-
-void MainToolBarController::_linkConnected(LinkInterface*)
-{
-    _updateConnection();
-}
-
-void MainToolBarController::_linkDisconnected(LinkInterface* link)
-{
-    _updateConnection(link);
-}
-
-void MainToolBarController::_updateConnection(LinkInterface *disconnectedLink)
-{
-    QStringList connList;
-    int oldCount = _connectionCount;
-    // If there are multiple connected links add/update the connect button menu
-    _connectionCount = 0;
-    QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
-    foreach(LinkInterface* link, links) {
-        if (disconnectedLink != link && link->isConnected()) {
-            _connectionCount++;
-            if(link->getLinkConfiguration()) {
-                connList << link->getLinkConfiguration()->name();
-            }
-        }
-    }
-    if(oldCount != _connectionCount) {
-        emit connectionCountChanged(_connectionCount);
-    }
-    if(connList != _connectedList) {
-        _connectedList = connList;
-        emit connectedListChanged(_connectedList);
-    }
-    // Update telemetry RSSI display
-    if(_connectionCount != 1 && _telemetryRRSSI > 0) {
-        _telemetryRRSSI = 0;
-        emit telemetryRRSSIChanged(_telemetryRRSSI);
-    }
-    if(_connectionCount != 1 && _telemetryLRSSI > 0) {
-        _telemetryLRSSI = 0;
+    if((unsigned)_telemetryLRSSI != rssi) {
+        // According to the Silabs data sheet, the RSSI value is 0.5db per bit
+        _telemetryLRSSI = rssi >> 1;
         emit telemetryLRSSIChanged(_telemetryLRSSI);
     }
-    if(_connectionCount != 1 && _remoteRSSI > 0) {
-        _remoteRSSI = 0;
-        emit remoteRSSIChanged(_remoteRSSI);
+    if((unsigned)_telemetryRRSSI != remrssi) {
+        // According to the Silabs data sheet, the RSSI value is 0.5db per bit
+        _telemetryRRSSI = remrssi >> 1;
+        emit telemetryRRSSIChanged(_telemetryRRSSI);
     }
 }
 
@@ -344,3 +197,8 @@ void MainToolBarController::showSettings(void)
 {
     MainWindow::instance()->showSettings();
 }
+
+void MainToolBarController::manageLinks(void)
+{
+    MainWindow::instance()->manageLinks();
+}

src/ui/toolbar/MainToolBarController.h

@@ -53,35 +53,24 @@ public:
     Q_INVOKABLE void    onSetupView();
     Q_INVOKABLE void    onPlanView();
     Q_INVOKABLE void    onFlyView();
-    Q_INVOKABLE void    onConnect(QString conf);
-    Q_INVOKABLE void    onDisconnect(QString conf);
     Q_INVOKABLE void    onEnterMessageArea(int x, int y);
     Q_INVOKABLE void    onToolBarMessageClosed(void);
     Q_INVOKABLE void    showSettings(void);
+    Q_INVOKABLE void    manageLinks(void);
 
     Q_PROPERTY(double       height              MEMBER _toolbarHeight           NOTIFY heightChanged)
-    Q_PROPERTY(QStringList  configList          MEMBER _linkConfigurations      NOTIFY configListChanged)
-    Q_PROPERTY(int          connectionCount     READ connectionCount            NOTIFY connectionCountChanged)
-    Q_PROPERTY(QStringList  connectedList       MEMBER _connectedList           NOTIFY connectedListChanged)
     Q_PROPERTY(float        progressBarValue    MEMBER _progressBarValue        NOTIFY progressBarValueChanged)
-    Q_PROPERTY(int          remoteRSSI          READ remoteRSSI                 NOTIFY remoteRSSIChanged)
     Q_PROPERTY(int          telemetryRRSSI      READ telemetryRRSSI             NOTIFY telemetryRRSSIChanged)
     Q_PROPERTY(int          telemetryLRSSI      READ telemetryLRSSI             NOTIFY telemetryLRSSIChanged)
 
     void        viewStateChanged        (const QString& key, bool value);
-    int         remoteRSSI              () { return _remoteRSSI; }
     int         telemetryRRSSI          () { return _telemetryRRSSI; }
     int         telemetryLRSSI          () { return _telemetryLRSSI; }
-    int         connectionCount         () { return _connectionCount; }
     
     void showToolBarMessage(const QString& message);
     
 signals:
-    void connectionCountChanged         (int count);
-    void configListChanged              ();
-    void connectedListChanged           (QStringList connectedList);
     void progressBarValueChanged        (float value);
-    void remoteRSSIChanged              (int value);
     void telemetryRRSSIChanged          (int value);
     void telemetryLRSSIChanged          (int value);
     void heightChanged                  (double height);
@@ -91,26 +80,15 @@ signals:
 
 private slots:
     void _activeVehicleChanged          (Vehicle* vehicle);
-    void _updateConfigurations          ();
-    void _linkConnected                 (LinkInterface* link);
-    void _linkDisconnected              (LinkInterface* link);
     void _leaveMessageView              ();
     void _setProgressBarValue           (float value);
-    void _remoteControlRSSIChanged      (uint8_t rssi);
     void _telemetryChanged              (LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);
     void _delayedShowToolBarMessage     (void);
 
-private:
-    void _updateConnection              (LinkInterface *disconnectedLink = NULL);
-
 private:
     Vehicle*        _vehicle;
     UASInterface*   _mav;
-    QStringList     _linkConfigurations;
-    int             _connectionCount;
-    QStringList     _connectedList;
     float           _progressBarValue;
-    int             _remoteRSSI;
     double          _remoteRSSIstore;
     int             _telemetryRRSSI;
     int             _telemetryLRSSI;

src/ui/toolbar/MainToolBarIndicators.qml

@@ -219,12 +219,12 @@ Row {
                 smooth:         true
                 width:          mainWindow.tbCellHeight * 0.65
                 height:         mainWindow.tbCellHeight * 0.5
-                opacity:        _controller.remoteRSSI < 1 ? 0.5 : 1
+                opacity:        activeVehicle.rcRSSI < 1 ? 0.5 : 1
                 anchors.verticalCenter: parent.verticalCenter
             }
             SignalStrength {
                 size:           mainWindow.tbCellHeight * 0.5
-                percent:        _controller.remoteRSSI
+                percent:        activeVehicle.rcRSSI
                 anchors.verticalCenter: parent.verticalCenter
             }
         }
@@ -284,10 +284,11 @@ Row {
     //-------------------------------------------------------------------------
     //-- Vehicle Selector
     QGCButton {
-        width:      ScreenTools.defaultFontPixelSize * 12
-        height:     mainWindow.tbButtonWidth
-        text:       "Vehicle " + activeVehicle.id
-        visible:    vehicleMenuItems.length > 0
+        id:                     vehicleSelectorButton
+        width:                  ScreenTools.defaultFontPixelSize * 12
+        height:                 mainWindow.tbButtonWidth
+        text:                   "Vehicle " + activeVehicle.id
+        visible:                QGroundControl.multiVehicleManager.vehicles.count > 1
         anchors.verticalCenter: parent.verticalCenter
 
         menu: vehicleMenu
@@ -331,7 +332,7 @@ Row {
 
         Connections {
             target:         multiVehicleManager.vehicles
-            onCountChanged: parent.updateVehicleMenu
+            onCountChanged: vehicleSelectorButton.updateVehicleMenu
         }
     }