Merge pull request #2415 from tcanabrava/APMAirframesV8

Add the initial stub for the AirFrame configuration for APM

qgcresources.qrc

@@ -208,6 +208,9 @@
         <file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml</file>
         <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
     </qresource>
+    <qresource prefix="/AutoPilotPlugins/APM">
+        <file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/APM/AirframeFactMetaData.xml</file>
+    </qresource>
 
     <qresource prefix="/FirmwarePlugin/APM">
         <file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>

qgroundcontrol.pro

@@ -282,7 +282,9 @@ HEADERS += \
     src/uas/UASMessageHandler.h \
     src/ui/toolbar/MainToolBarController.h \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.h \
+    src/AutoPilotPlugins/APM/APMAirframeLoader.h \
     src/QmlControls/QGCImageProvider.h \
+    src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.h
 
 DebugBuild {
 HEADERS += \
@@ -398,7 +400,9 @@ SOURCES += \
     src/uas/UASMessageHandler.cc \
     src/ui/toolbar/MainToolBarController.cc \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc \
+    src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
     src/QmlControls/QGCImageProvider.cc \
+    src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.cc
 
 DebugBuild {
 SOURCES += \
@@ -550,6 +554,8 @@ HEADERS+= \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
     src/AutoPilotPlugins/APM/APMAirframeComponent.h \
+    src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
+    src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
     src/AutoPilotPlugins/APM/APMComponent.h \
     src/AutoPilotPlugins/APM/APMRadioComponent.h \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
@@ -601,6 +607,7 @@ SOURCES += \
     src/AutoPilotPlugins/AutoPilotPluginManager.cc \
     src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
     src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
+    src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
     src/AutoPilotPlugins/APM/APMComponent.cc \
     src/AutoPilotPlugins/APM/APMRadioComponent.cc \
     src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
@@ -610,6 +617,7 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMSensorsComponentController.cc \
     src/AutoPilotPlugins/APM/APMTuningComponent.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
+    src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -57,22 +57,13 @@ bool APMAirframeComponent::requiresSetup(void) const
 
 bool APMAirframeComponent::setupComplete(void) const
 {
-    // You'll need to figure out which parameters trigger setup complete
-#if 0
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
-#else
-    return true;
-#endif
+    //: Not the correct one, but it works for the moment.
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != -1;
 }
 
 QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
 {
-    // You'll need to figure out which parameters trigger setup complete
-#if 0
-    return QStringList("SYS_AUTOSTART");
-#else
     return QStringList();
-#endif
 }
 
 QUrl APMAirframeComponent::setupSource(void) const

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

@@ -21,7 +21,7 @@
 
  ======================================================================*/
 
-import QtQuick 2.2
+import QtQuick 2.5
 import QtQuick.Controls 1.2
 import QtQuick.Controls.Styles 1.2
 import QtQuick.Dialogs 1.2
@@ -39,13 +39,214 @@ QGCView {
 
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
+    property real _minW:        ScreenTools.defaultFontPixelWidth * 30
+    property real _boxWidth:    _minW
+    property real _boxSpace:    ScreenTools.defaultFontPixelWidth
+    property Fact sysIdFact:    controller.getParameterFact(-1, "FRAME")
+
+    function computeDimensions() {
+        var sw  = 0
+        var rw  = 0
+        var idx = Math.floor(scroll.width / (_minW + ScreenTools.defaultFontPixelWidth))
+        if(idx < 1) {
+            _boxWidth = scroll.width
+            _boxSpace = 0
+        } else {
+            _boxSpace = 0
+            if(idx > 1) {
+                _boxSpace = ScreenTools.defaultFontPixelWidth
+                sw = _boxSpace * (idx - 1)
+            }
+            rw = scroll.width - sw
+            _boxWidth = rw / idx
+        }
+    }
+
+    APMAirframeComponentController {
+        id:         controller
+        factPanel:  panel
+    }
+
+    Component {
+        id: applyRestartDialogComponent
+
+        QGCViewDialog {
+            id: applyRestartDialog
+
+            Connections {
+                target: controller
+                onCurrentAirframeTypeChanged: {
+                    airframePicker.model = controller.currentAirframeType.airframes;
+                }
+                onCurrentAirframeChanged : {
+                    hideDialog();
+                }
+            }
+
+            QGCLabel {
+                id: applyParamsText
+                anchors.top:   parent.top
+                anchors.left:  parent.left
+                anchors.right: parent.right
+                anchors.margins: _boxSpace
+                wrapMode:       Text.WordWrap
+                text:           "Select you drone to load the default parameters for it. "
+            }
+
+            Flow {
+                anchors.top : applyParamsText.bottom
+                anchors.left: parent.left
+                anchors.right: parent.right
+                anchors.bottom: parent.bottom
+                spacing : _boxSpace
+                layoutDirection: Qt.Vertical;
+                anchors.margins : _boxSpace
+                Repeater {
+                    id : airframePicker
+                    model : controller.currentAirframeType.airframes;
+
+                    delegate: QGCButton {
+                        id: btnParams
+                        width:  parent.width / 2.1
+                        height: (ScreenTools.defaultFontPixelHeight * 14) / 5
+                        text:                   controller.currentAirframeType.airframes[index].name;
+
+                        onClicked : {
+                            controller.currentAirframe = controller.currentAirframeType.airframes[index]
+                        }
+                    }
+                }
+            }
+        }
+    }
+
     QGCViewPanel {
         id:             panel
         anchors.fill:   parent
 
-        QGCLabel {
-            text: "Work in progress";
+        readonly property real spacerHeight: ScreenTools.defaultFontPixelHeight
+
+        onWidthChanged: {
+            computeDimensions()
+        }
+
+        Item {
+            id:             helpApplyRow
+            anchors.top:    parent.top
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            height:         Math.max(helpText.contentHeight, applyButton.height)
+
+            QGCLabel {
+                id:             helpText
+                width:          parent.width - applyButton.width - 5
+                text:           qsTr("Please select your airframe type")
+                font.pixelSize: ScreenTools.mediumFontPixelSize
+                wrapMode:       Text.WordWrap
+            }
+
+            QGCButton {
+                id:             applyButton
+                anchors.right:  parent.right
+                text:           qsTr("Load common parameters")
+
+                onClicked:      showDialog(applyRestartDialogComponent, qsTr("Load common parameters"), 50, StandardButton.Close)
+            }
+        }
+
+        Item {
+            id:             lastSpacer
+            anchors.top:    helpApplyRow.bottom
+            height:         parent.spacerHeight
+            width:          10
         }
 
+        Flickable {
+            id:             scroll
+            anchors.top:    lastSpacer.bottom
+            width:          parent.width;
+            height:         parent.height;
+            clip:           true
+            boundsBehavior:     Flickable.StopAtBounds
+            flickableDirection: Flickable.VerticalFlick
+
+            onWidthChanged: {
+                computeDimensions()
+            }
+
+            Flow {
+                id:         flowView
+                width:      scroll.width
+                spacing:    _boxSpace
+
+                ExclusiveGroup {
+                    id: airframeTypeExclusive
+                }
+
+                Repeater {
+                    model: controller.airframeTypesModel
+
+                    // Outer summary item rectangle
+                    delegate : Rectangle {
+                        id:     airframeBackground
+                        width:  _boxWidth
+                        height: ScreenTools.defaultFontPixelHeight * 14
+                        color:  qgcPal.windowShade;
+
+                        readonly property real titleHeight: ScreenTools.defaultFontPixelHeight * 1.75
+                        readonly property real innerMargin: ScreenTools.defaultFontPixelWidth
+
+                        MouseArea {
+                                anchors.fill:   parent
+                                onClicked:      airframeCheckBox.checked = true;
+                        }
+
+                        Rectangle {
+                            id:     nameRect;
+                            width:  parent.width
+                            height: parent.titleHeight
+                            color:  qgcPal.windowShadeDark
+
+                            QGCLabel {
+                                anchors.fill:           parent
+                                color:                  qgcPal.buttonText
+                                verticalAlignment:      TextEdit.AlignVCenter
+                                horizontalAlignment:    TextEdit.AlignHCenter
+                                text:                   object.name
+                            }
+                        }
+
+                        Image {
+                            id:                 imageRect
+                            anchors.topMargin:  innerMargin
+                            anchors.top:        nameRect.bottom
+                            width:              parent.width * 0.75
+                            height:             parent.height - nameRect.height - (innerMargin * 3)
+                            fillMode:           Image.PreserveAspectFit
+                            smooth:             true
+                            mipmap:             true
+                            source:             object.imageResource
+                            anchors.horizontalCenter: parent.horizontalCenter
+                        }
+
+                        QGCCheckBox {
+                            id:             airframeCheckBox
+                            checked:        object.type == sysIdFact.value
+                            exclusiveGroup: airframeTypeExclusive
+                            anchors.bottom: imageRect.bottom
+                            anchors.right:  parent.right
+                            anchors.rightMargin: innerMargin
+
+                            onCheckedChanged: {
+                                if (checked) {
+                                    controller.currentAirframeType = object
+                                }
+                                airframeBackground.color = checked ? qgcPal.buttonHighlight : qgcPal.windowShade;
+                            }
+                        }
+                    }
+                }
+            }
+        } // Scroll View - summary boxes
     } // QGCViewPanel
 } // QGCView

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "APMAirframeComponentAirframes.h"
+#include "APMAirframeComponentController.h"
+
+QMap<QString, APMAirframeComponentAirframes::AirframeType_t*> APMAirframeComponentAirframes::rgAirframeTypes;
+
+QMap<QString, APMAirframeComponentAirframes::AirframeType_t*>& APMAirframeComponentAirframes::get() {
+    return rgAirframeTypes;
+}
+
+void APMAirframeComponentAirframes::insert(const QString& group, int groupId, const QString& image,const QString& name, const QString& file)
+{
+    AirframeType_t *g;
+    if (!rgAirframeTypes.contains(group)) {
+        g = new AirframeType_t;
+        g->name = group;
+        g->type = groupId;
+        g->imageResource = QString("qrc:/qmlimages/") + (!image.isEmpty() ? image : QString("AirframeStandardPlane.png"));
+        rgAirframeTypes.insert(group, g);
+    } else {
+        g = rgAirframeTypes.value(group);
+    }
+
+    if (!name.isEmpty() && !file.isEmpty())
+        g->rgAirframeInfo.append(new APMAirframe(name, file, g->type));
+}
+
+void APMAirframeComponentAirframes::clear() {
+    QList<AirframeType_t*> valueList = get().values();
+    foreach(AirframeType_t *pType, valueList) {
+        qDeleteAll(pType->rgAirframeInfo);
+        delete pType;
+    }
+    rgAirframeTypes.clear();
+}

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef APMAirframeComponentAirframes_H
+#define APMAirframeComponentAirframes_H
+
+#include <QObject>
+#include <QQuickItem>
+#include <QList>
+#include <QMap>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+class APMAirframe;
+
+/// MVC Controller for AirframeComponent.qml.
+class APMAirframeComponentAirframes
+{
+public:
+    typedef struct {
+        QString name;
+        QString imageResource;
+        int type;
+        QList<APMAirframe*> rgAirframeInfo;
+    } AirframeType_t;
+    typedef QMap<QString, AirframeType_t*> AirframeTypeMap;
+
+    static AirframeTypeMap& get();
+    static void clear();
+    static void insert(const QString& group, int groupId, const QString& image,const QString& name = QString(), const QString& file = QString());
+    
+protected:
+    static AirframeTypeMap rgAirframeTypes;
+    
+private:
+};
+
+#endif

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "APMAirframeComponentController.h"
+#include "APMAirframeComponentAirframes.h"
+#include "APMRemoteParamsDownloader.h"
+#include "QGCMAVLink.h"
+#include "MultiVehicleManager.h"
+#include "AutoPilotPluginManager.h"
+#include "QGCApplication.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+bool APMAirframeComponentController::_typesRegistered = false;
+
+APMAirframeComponentController::APMAirframeComponentController(void) :
+    _airframeTypesModel(new QmlObjectListModel(this))
+{
+    if (!_typesRegistered) {
+        _typesRegistered = true;
+        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAiframeType", "Can only reference APMAirframeType");
+        qmlRegisterUncreatableType<APMAirframe>("QGroundControl.Controllers", 1, 0, "APMAiframe", "Can only reference APMAirframe");
+    }
+    _fillAirFrames();
+
+    Fact *frame = getParameterFact(FactSystem::defaultComponentId, "FRAME");
+    connect(frame, &Fact::vehicleUpdated, this, &APMAirframeComponentController::_factFrameChanged);
+    _factFrameChanged(frame->rawValue());
+}
+
+APMAirframeComponentController::~APMAirframeComponentController()
+{
+
+}
+
+void APMAirframeComponentController::_factFrameChanged(QVariant value)
+{
+    FrameId v = (FrameId) value.toInt();
+
+    for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) {
+        APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i));
+        Q_ASSERT(airframeType);
+        if (airframeType->type() == v) {
+            _currentAirframeType = airframeType;
+            break;
+        }
+    }
+    emit currentAirframeTypeChanged(_currentAirframeType);
+}
+
+void APMAirframeComponentController::_fillAirFrames()
+{
+    for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) {
+        const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex);
+
+        APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this);
+        Q_CHECK_PTR(airframeType);
+
+        for (int index = 0; index < pType->rgAirframeInfo.count(); index++) {
+            const APMAirframe* pInfo = pType->rgAirframeInfo.at(index);
+            Q_CHECK_PTR(pInfo);
+
+            airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type());
+        }
+        _airframeTypesModel->append(airframeType);
+    }
+
+    emit loadAirframesCompleted();
+}
+
+void APMAirframeComponentController::_finishVehicleSetup() {
+    QDir dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0)
+           + QDir::separator() + qApp->applicationName();
+
+    QFile parametersFile(dataLocation.absoluteFilePath(_currentAirframe->params()));
+    parametersFile.open(QIODevice::ReadOnly);
+
+    QTextStream reader(&parametersFile);
+
+    while (!reader.atEnd()) {
+        QString line = reader.readLine().trimmed();
+        if (line.isEmpty() || line.at(0) == QChar('#')) {
+            continue;
+        }
+
+        QStringList aux = line.split(',');
+        if (parameterExists(-1, aux.at(0))) {
+            Fact *param = getParameterFact(-1, aux.at(0));
+            param->setRawValue(QVariant::fromValue(aux.at(1)));
+        }
+    }
+    qgcApp()->setOverrideCursor(Qt::ArrowCursor);
+    sender()->deleteLater();
+    emit currentAirframeChanged(_currentAirframe);
+}
+
+APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :
+    QObject(parent),
+    _name(name),
+    _imageResource(imageResource),
+    _type(type),
+    _dirty(false)
+{
+}
+
+APMAirframeType::~APMAirframeType()
+{
+}
+
+void APMAirframeType::addAirframe(const QString& name, const QString& file, int type)
+{
+    APMAirframe* airframe = new APMAirframe(name, file, type);
+    Q_CHECK_PTR(airframe);
+    
+    _airframes.append(QVariant::fromValue(airframe));
+}
+
+APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) :
+    QObject(parent),
+    _name(name),
+    _paramsFile(paramsFile),
+    _type(type)
+{
+}
+
+QString APMAirframe::name() const
+{
+    return _name;
+}
+
+QString APMAirframe::params() const
+{
+    return _paramsFile;
+}
+
+int APMAirframe::type() const
+{
+    return _type;
+}
+
+APMAirframe::~APMAirframe()
+{
+}
+
+QString APMAirframeType::imageResource() const
+{
+    return _imageResource;
+}
+
+QString APMAirframeType::name() const
+{
+    return _name;
+}
+
+int APMAirframeType::type() const
+{
+    return _type;
+}
+
+APMAirframeType *APMAirframeComponentController::currentAirframeType() const
+{
+    return _currentAirframeType;
+}
+
+APMAirframe *APMAirframeComponentController::currentAirframe() const
+{
+    return _currentAirframe;
+}
+
+void APMAirframeComponentController::setCurrentAirframe(APMAirframe *t)
+{
+    _currentAirframe = t;
+    qgcApp()->setOverrideCursor(Qt::WaitCursor);
+    APMRemoteParamsDownloader *paramDownloader = new APMRemoteParamsDownloader(_currentAirframe->params());
+    connect(paramDownloader, &APMRemoteParamsDownloader::finished, this, &APMAirframeComponentController::_finishVehicleSetup);
+}
+
+void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t)
+{
+    Fact *param = getParameterFact(-1, "FRAME");
+    Q_ASSERT(param);
+    param->setRawValue(t->type());
+}
+

src/AutoPilotPlugins/APM/APMAirframeComponentController.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef APMAirframeComponentController_H
+#define APMAirframeComponentController_H
+
+#include <QObject>
+#include <QQuickItem>
+#include <QList>
+#include <QAbstractListModel>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
+#include "APMAirframeComponentAirframes.h"
+
+class APMAirframeModel;
+class APMAirframeType;
+
+/// MVC Controller for APMAirframeComponent.qml.
+class APMAirframeComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    enum FrameId{FRAME_TYPE_PLUS = 0,
+                 FRAME_TYPE_X = 1,
+                 FRAME_TYPE_V = 2,
+                 FRAME_TYPE_H = 3,
+                 FRAME_TYPE_NEWY6 = 10};
+    Q_ENUM(FrameId)
+
+    APMAirframeComponentController(void);
+    ~APMAirframeComponentController();
+    
+    Q_PROPERTY(QmlObjectListModel* airframeTypesModel MEMBER _airframeTypesModel CONSTANT)
+    Q_PROPERTY(APMAirframeType* currentAirframeType READ currentAirframeType WRITE setCurrentAirframeType NOTIFY currentAirframeTypeChanged)
+    Q_PROPERTY(APMAirframe* currentAirframe READ currentAirframe WRITE setCurrentAirframe NOTIFY currentAirframeChanged)
+
+    int currentAirframeIndex(void);
+    void setCurrentAirframeIndex(int newIndex);
+    
+signals:
+    void loadAirframesCompleted();
+    void currentAirframeTypeChanged(APMAirframeType* airframeType);
+    void currentAirframeChanged(APMAirframe* airframe);
+
+public slots:
+    APMAirframeType *currentAirframeType() const;
+    APMAirframe *currentAirframe() const;
+    void setCurrentAirframeType(APMAirframeType *t);
+    void setCurrentAirframe(APMAirframe *t);
+
+private slots:
+    void _fillAirFrames(void);
+    void _finishVehicleSetup(void);
+    void _factFrameChanged(QVariant v);
+
+private:
+    static bool _typesRegistered;
+    APMAirframeType *_currentAirframeType;
+    APMAirframe *_currentAirframe;
+    int _waitParamWriteSignalCount;
+    QmlObjectListModel *_airframeTypesModel;
+};
+
+class APMAirframe : public QObject
+{
+    Q_OBJECT
+    
+public:
+    APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent = NULL);
+    ~APMAirframe();
+    
+    Q_PROPERTY(QString name MEMBER _name CONSTANT)
+    Q_PROPERTY(int type MEMBER _type CONSTANT)
+    Q_PROPERTY(QString params MEMBER _paramsFile CONSTANT)
+    
+    QString name() const;
+    QString params() const;
+    int type() const;
+
+private:
+    QString _name;
+    QString _paramsFile;
+    int _type;
+};
+
+class APMAirframeType : public QObject
+{
+    Q_OBJECT
+    
+public:
+    APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent = NULL);
+    ~APMAirframeType();
+    
+    Q_PROPERTY(QString name MEMBER _name CONSTANT)
+    Q_PROPERTY(QString imageResource MEMBER _imageResource CONSTANT)
+    Q_PROPERTY(QVariantList airframes MEMBER _airframes CONSTANT)
+    Q_PROPERTY(int type MEMBER _type CONSTANT)
+    Q_PROPERTY(bool dirty MEMBER _dirty CONSTANT)
+    void addAirframe(const QString& name, const QString& paramsFile, int type);
+
+    QString name() const;
+    QString imageResource() const;
+    int type() const;
+private:
+    QString         _name;
+    QString         _imageResource;
+    QVariantList    _airframes;
+    int _type;
+    bool _dirty;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml

@@ -13,33 +13,27 @@ FactPanel {
     color:          qgcPal.windowShadeDark
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    APMAirframeComponentController {
+        id:         controller
+        factPanel:  panel
+    }
 
-/*
-    property Fact sysIdFact:        controller.getParameterFact(-1, "MAV_SYS_ID")
-    property Fact sysAutoStartFact: controller.getParameterFact(-1, "SYS_AUTOSTART")
+    property Fact sysIdFact:        controller.getParameterFact(-1, "FRAME")
 
-    property bool autoStartSet: sysAutoStartFact.value != 0
-*/
 
     Column {
         anchors.fill: parent
         anchors.margins: 8
 
-/*
-        VehicleSummaryRow {
-            labelText: "System ID:"
-            valueText: sysIdFact.valueString
-        }
-
         VehicleSummaryRow {
-            labelText: "Airframe type:"
-            valueText: autoStartSet ? controller.currentAirframeType : "Setup required"
-        }
+            id: nameRow;
+            labelText: "Frame Type:"
+            valueText: sysIdFact.valueString === "0" ? "Plus"
+                     : sysIdFact.valueString === "1" ? "X"
+                     : sysIdFact.valueString === "2" ? "V"
+                     : sysIdFact.valueString == "3" ? "H"
+                     :/* Fact.value == 10 */ "New Y6";
 
-        VehicleSummaryRow {
-            labelText: "Vehicle:"
-            valueText: autoStartSet ? controller.currentVehicleName : "Setup required"
         }
-*/
     }
 }

src/AutoPilotPlugins/APM/APMAirframeLoader.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "APMAirframeLoader.h"
+#include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
+#include "APMAirframeComponentAirframes.h"
+
+#include <QFile>
+#include <QFileInfo>
+#include <QDir>
+#include <QDebug>
+
+QGC_LOGGING_CATEGORY(APMAirframeLoaderLog, "APMAirframeLoaderLog")
+
+bool APMAirframeLoader::_airframeMetaDataLoaded = false;
+
+APMAirframeLoader::APMAirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent)
+{
+    Q_UNUSED(autopilot);
+    Q_UNUSED(uas);
+    Q_UNUSED(parent);
+    Q_ASSERT(uas);
+}
+
+/// Load Airframe Fact meta data
+void APMAirframeLoader::loadAirframeFactMetaData(void)
+{
+    if (_airframeMetaDataLoaded) {
+        return;
+    }
+
+    qCDebug(APMAirframeLoaderLog) << "Loading APM airframe fact meta data";
+
+    Q_ASSERT(APMAirframeComponentAirframes::get().count() == 0);
+
+    QString airframeFilename = ":/AutoPilotPlugins/APM/AirframeFactMetaData.xml";
+
+    qCDebug(APMAirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
+
+    QFile xmlFile(airframeFilename);
+    Q_ASSERT(xmlFile.exists());
+
+    bool success = xmlFile.open(QIODevice::ReadOnly);
+    Q_UNUSED(success);
+    Q_ASSERT(success);
+
+    QXmlStreamReader xml(xmlFile.readAll());
+    xmlFile.close();
+    if (xml.hasError()) {
+        qCWarning(APMAirframeLoaderLog) << "Badly formed XML" << xml.errorString();
+        return;
+    }
+
+    QString airframeGroup;
+    QString image;
+    int groupId = 0;
+    while (!xml.atEnd()) {
+        if (xml.isStartElement()) {
+            QString elementName = xml.name().toString();
+            QXmlStreamAttributes attr = xml.attributes();
+            if (elementName == "airframe_group") {
+                airframeGroup = attr.value("name").toString();
+                image = attr.value("image").toString();
+                groupId = attr.value("id").toInt();
+                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image);
+            } else if (elementName == "airframe") {
+                QString name = attr.value("name").toString();
+                QString file = attr.value("file").toString();
+                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image, name, file);
+            }
+        }
+        xml.readNext();
+    }
+
+    _airframeMetaDataLoaded = true;
+}

src/AutoPilotPlugins/APM/APMAirframeLoader.h

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#ifndef APMAirframeLoader_H
+#define APMAirframeLoader_H
+
+#include <QObject>
+#include <QMap>
+#include <QXmlStreamReader>
+#include <QLoggingCategory>
+
+#include "ParameterLoader.h"
+#include "FactSystem.h"
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+
+/// @file APMAirframeLoader.h
+///     @author Lorenz Meier <lm@qgroundcontrol.org>
+
+Q_DECLARE_LOGGING_CATEGORY(APMAirframeLoaderLog)
+
+/// Collection of Parameter Facts for PX4 AutoPilot
+
+class APMAirframeLoader : QObject
+{
+    Q_OBJECT
+
+public:
+    /// @param uas Uas which this set of facts is associated with
+    APMAirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
+
+    static void loadAirframeFactMetaData(void);
+
+private:
+    static bool _airframeMetaDataLoaded;   ///< true: parameter meta data already loaded
+    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
+};
+
+#endif // APMAirframeLoader_H

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

 /*=====================================================================
 
  QGroundControl Open Source Ground Control Station
- 
+
  (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #include "APMAutoPilotPlugin.h"
@@ -26,6 +26,18 @@
 #include "UAS.h"
 #include "FirmwarePlugin/APM/APMParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
+#include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h"
+#include "APMComponent.h"
+#include "APMAirframeComponent.h"
+#include "APMAirframeComponentAirframes.h"
+#include "APMAirframeComponentController.h"
+#include "APMAirframeLoader.h"
+#include "APMRemoteParamsDownloader.h"
+#include "APMFlightModesComponent.h"
+#include "APMRadioComponent.h"
+#include "APMSafetyComponent.h"
+#include "APMTuningComponent.h"
+#include "APMSensorsComponent.h"
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
 APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
@@ -37,8 +49,9 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _safetyComponent(NULL)
     , _sensorsComponent(NULL)
     , _tuningComponent(NULL)
+    , _airframeFacts(new APMAirframeLoader(this, vehicle->uas(), this))
 {
-    Q_ASSERT(vehicle);
+    APMAirframeLoader::loadAirframeFactMetaData();
 }
 
 APMAutoPilotPlugin::~APMAutoPilotPlugin()
@@ -52,12 +65,14 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
 
         if (parametersReady()) {
-            _airframeComponent = new APMAirframeComponent(_vehicle, this);
-            if (_airframeComponent) {
-                _airframeComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
-            } else {
-                qWarning() << "new APMAirframeComponent failed";
+            if (dynamic_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin())){
+                _airframeComponent = new APMAirframeComponent(_vehicle, this);
+                if(_airframeComponent) {
+                    _airframeComponent->setupTriggerSignals();
+                    _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+                } else {
+                    qWarning() << "new APMAirframeComponent failed";
+                }
             }
 
             _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
@@ -122,9 +137,9 @@ void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
     }
 #endif
-
+    Q_UNUSED(missingParameters);
     _parametersReady = true;
-    _missingParameters = missingParameters;
+    _missingParameters = false; // we apply only the parameters that do exists on the FactSystem.
     emit missingParametersChanged(_missingParameters);
     emit parametersReadyChanged(_parametersReady);
 }

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -26,12 +26,14 @@
 
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
-#include "APMAirframeComponent.h"
-#include "APMFlightModesComponent.h"
-#include "APMRadioComponent.h"
-#include "APMSafetyComponent.h"
-#include "APMSensorsComponent.h"
-#include "APMTuningComponent.h"
+
+class APMAirframeComponent;
+class APMAirframeLoader;
+class APMFlightModesComponent;
+class APMRadioComponent;
+class APMTuningComponent;
+class APMSafetyComponent;
+class APMSensorsComponent;
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -66,6 +68,7 @@ private:
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;
     APMTuningComponent*         _tuningComponent;
+    APMAirframeLoader*      _airframeFacts;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMComponent.cc

@@ -37,10 +37,8 @@ APMComponent::APMComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject
 
 void APMComponent::setupTriggerSignals(void)
 {
-    // Watch for changed on trigger list params
-    foreach (QString paramName, setupCompleteChangedTriggerList()) {
+    foreach (const QString& paramName, setupCompleteChangedTriggerList()) {
         Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
-        
         connect(fact, &Fact::valueChanged, this, &APMComponent::_triggerUpdated);
     }
 }

src/AutoPilotPlugins/APM/APMFlightModesComponent.cc

@@ -23,6 +23,8 @@
 
 #include "APMFlightModesComponent.h"
 #include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
+#include "APMRadioComponent.h"
 
 APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     APMComponent(vehicle, autopilot, parent),

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -23,6 +23,7 @@
 
 #include "APMRadioComponent.h"
 #include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
 
 APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     APMComponent(vehicle, autopilot, parent),

src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.cc

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+#include "APMRemoteParamsDownloader.h"
+
+#include <QMessageBox>
+#include <QDesktopServices>
+#include <QFile>
+#include <QFileDialog>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
+#include <QTimer>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QCryptographicHash>
+#include <QApplication>
+
+#include "APMRemoteParamsDownloader.h"
+
+#define FRAME_PARAMS_LIST QUrl("https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params")
+#define FRAME_PARAMS_URL "https://raw.github.com/diydrones/ardupilot/master/Tools/Frame_params/"
+
+static QString dataLocation;
+
+APMRemoteParamsDownloader::APMRemoteParamsDownloader(const QString& file) :
+    m_fileToDownload(file),
+    m_networkReply(NULL),
+    m_downloadedParamFile(NULL)
+{
+    dataLocation = QStandardPaths::standardLocations(QStandardPaths::AppDataLocation).at(0)
+           + QDir::separator() + qApp->applicationName();
+    refreshParamList();
+}
+
+QString APMRemoteParamsDownloader::statusText() const
+{
+    return m_statusText;
+}
+void APMRemoteParamsDownloader::setStatusText(const QString& text)
+{
+    m_statusText = text;
+}
+
+void APMRemoteParamsDownloader::refreshParamList()
+{
+    setStatusText(tr("Refresh Param file list"));
+
+    QUrl url = FRAME_PARAMS_LIST;
+    m_networkReply->deleteLater();
+    m_networkReply = m_networkAccessManager.get(QNetworkRequest(url));
+    connect(m_networkReply, SIGNAL(finished()), this, SLOT(httpParamListFinished()));
+    connect(m_networkReply, SIGNAL(downloadProgress(qint64,qint64)),
+            this, SLOT(updateDataReadProgress(qint64,qint64)));
+}
+
+/* Returned Json Example
+    "_links": {
+        "git":"https://api.github.com/repos/diydrones/ardupilot/git/blobs/a7074e606d695566f9a8c87724ad52e5e3baba7d",
+        "html":"https://github.com/diydrones/ardupilot/blob/master/Tools/Frame_params/Parrot_Bebop.param",
+        "self":"https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params/Parrot_Bebop.param?ref=master"
+    },
+    "download_url":"https://raw.githubusercontent.com/diydrones/ardupilot/master/Tools/Frame_params/Parrot_Bebop.param",
+    "git_url":"https://api.github.com/repos/diydrones/ardupilot/git/blobs/a7074e606d695566f9a8c87724ad52e5e3baba7d",
+    "html_url":"https://github.com/diydrones/ardupilot/blob/master/Tools/Frame_params/Parrot_Bebop.param",
+    "name":"Parrot_Bebop.param","path":"Tools/Frame_params/Parrot_Bebop.param",""
+    "sha":"a7074e606d695566f9a8c87724ad52e5e3baba7d",
+    "size":533,
+    "type":"file",
+    "url":"https://api.github.com/repos/diydrones/ardupilot/contents/Tools/Frame_params/Parrot_Bebop.param?ref=master"
+*/
+void APMRemoteParamsDownloader::startFileDownloadRequest()
+{
+    QUrl url;
+
+    QJsonObject obj;
+
+    // Find the correct file from the json file list.
+    while(curr != end) {
+        obj = (*curr).toObject();
+        url = QUrl(obj["download_url"].toString());
+        QString name = obj["name"].toString();
+        if (name == m_fileToDownload) {
+            break;
+        }
+        curr++;
+    }
+    if (curr == end)
+        return;
+
+    QDir parameterDir(dataLocation);
+    if (!parameterDir.exists())
+        parameterDir.mkpath(dataLocation);
+
+    QString filename = parameterDir.absoluteFilePath(obj["name"].toString());
+
+    if(m_downloadedParamFile)
+        m_downloadedParamFile->deleteLater();
+    m_downloadedParamFile = new QFile(filename);
+    m_downloadedParamFile->open(QIODevice::WriteOnly);
+
+    m_networkReply = m_networkAccessManager.get(QNetworkRequest(url));
+    connect(m_networkReply, SIGNAL(finished()), this, SLOT(httpFinished()));
+    connect(m_networkReply, SIGNAL(readyRead()), this, SLOT(httpReadyRead()));
+    connect(m_networkReply, SIGNAL(downloadProgress(qint64,qint64)), this, SLOT(updateDataReadProgress(qint64,qint64)));
+    curr++;
+}
+
+void APMRemoteParamsDownloader::httpFinished()
+{
+    m_downloadedParamFile->flush();
+    m_downloadedParamFile->close();
+
+    if (m_networkReply->error()) {
+        m_downloadedParamFile->remove();
+        setStatusText(tr("Download failed: %1.").arg(m_networkReply->errorString()));
+    }
+
+    m_networkReply->deleteLater();
+    m_networkReply = NULL;
+    delete m_downloadedParamFile;
+    m_downloadedParamFile = NULL;
+
+    emit finished();
+}
+
+void APMRemoteParamsDownloader::httpReadyRead()
+{
+    if (m_downloadedParamFile)
+        m_downloadedParamFile->write(m_networkReply->readAll());
+}
+
+void APMRemoteParamsDownloader::updateDataReadProgress(qint64 bytesRead, qint64 totalBytes)
+{
+    Q_UNUSED(bytesRead);
+    Q_UNUSED(totalBytes);
+}
+
+void APMRemoteParamsDownloader::httpParamListFinished()
+{
+    if (m_networkReply->error()) {
+        qDebug() <<  "Download failed:" << m_networkReply->errorString();
+        return;
+    }
+    processDownloadedVersionObject(m_networkReply->readAll());
+    startFileDownloadRequest();
+}
+
+void APMRemoteParamsDownloader::processDownloadedVersionObject(const QByteArray &listObject)
+{
+    QJsonParseError jsonErrorChecker;
+    QJsonDocument jsonDocument = QJsonDocument::fromJson(listObject, &jsonErrorChecker);
+    if (jsonErrorChecker.error != QJsonParseError::NoError) {
+        qDebug() << "Json error while parsing document:" << jsonErrorChecker.errorString();
+        return;
+    }
+
+    m_documentArray = jsonDocument.array();
+    curr = m_documentArray.constBegin();
+    end = m_documentArray.constEnd();
+}

src/AutoPilotPlugins/APM/APMRemoteParamsDownloader.h

+#ifndef APMREMOTEPARAMSCONTROLLER_H
+#define APMREMOTEPARAMSCONTROLLER_H
+
+#include <QObject>
+#include <QNetworkAccessManager>
+#include <QUrl>
+#include <QJsonArray>
+
+class QNetworkReply;
+class QFile;
+class QUrl;
+
+class APMRemoteParamsDownloader : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(QString statusText READ statusText)
+public:
+    explicit APMRemoteParamsDownloader(const QString& file);
+    QString statusText() const;
+public slots:
+    void refreshParamList();
+    void httpParamListFinished();
+    void httpFinished();
+    void httpReadyRead();
+    void updateDataReadProgress(qint64 bytesRead, qint64 totalBytes);
+private:
+    void setStatusText(const QString& text);
+    void startFileDownloadRequest();
+    void manualListSetup();
+    void processDownloadedVersionObject(const QByteArray& listObject);
+    void startDownloadingRemoteParams();
+signals:
+    void finished();
+private:
+    QString m_fileToDownload;
+    QString m_statusText;
+    QNetworkAccessManager m_networkAccessManager;
+    QNetworkReply* m_networkReply;
+    QFile* m_downloadedParamFile;
+
+    // the list of needed documents.
+    QJsonArray m_documentArray;
+    QJsonArray::const_iterator curr;
+    QJsonArray::const_iterator end;
+};
+
+#endif // APMREMOTEPARAMSCONTROLLER_H

src/AutoPilotPlugins/APM/APMSafetyComponent.cc

@@ -27,6 +27,7 @@
 #include "APMSafetyComponent.h"
 #include "QGCQmlWidgetHolder.h"
 #include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
 
 APMSafetyComponent::APMSafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : APMComponent(vehicle, autopilot, parent)

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -24,6 +24,7 @@
 #include "APMSensorsComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMSensorsComponentController.h"
+#include "APMAirframeComponent.h"
 
 // These two list must be kept in sync
 

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -23,6 +23,7 @@
 
 #include "APMTuningComponent.h"
 #include "APMAutoPilotPlugin.h"
+#include "APMAirframeComponent.h"
 
 APMTuningComponent::APMTuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : APMComponent(vehicle, autopilot, parent)

src/AutoPilotPlugins/APM/AirframeFactMetaData.xml

+<?xml version='1.0' encoding='UTF-8'?>
+<airframes>
+  <version>1</version>
+  <airframe_group image="AirframeQuadRotorPlus.png" name="Plus Style" id="0">
+      <airframe name="3DR Aero M" file="3DR_AERO_M.param"/>
+      <airframe name="3DR Aero RTF" file="3DR_Aero_RTF.param"/>
+      <airframe name="3DR Rover" file="3DR_Rover.param"/>
+      <airframe name="3DR Tarot" file="3DR_Tarot.bgsc"/>
+      <airframe name="Parrot Bebop" file="Parrot_Bebop.param"/>
+      <airframe name="Storm32" file="SToRM32-MAVLink.param"/>
+  </airframe_group>
+  <airframe_group image="AirframeQuadRotorX.png" name="X Style" id="1">
+      <airframe name="3DR X8-M RTF" file="3DR_X8-M_RTF.param"/>
+      <airframe name="3DR Y6A" file="3DR_Y6A_RTF.param"/>
+      <airframe name="3DR X8+ RTF" file="3DR_X8+_RTF.param"/>
+      <airframe name="3DR QUAD X4 RTF" file="3DR_QUAD_X4_RTF.param"/>
+      <airframe name="3DR X8" file="3DR_X8_RTF.param"/>
+  </airframe_group>
+  <airframe_group image="AirframeSimulation.png" name="V Style" id="2">
+      <airframe name="Iris with GoPro" file="Iris with Front Mount Go Pro.param"/>
+      <airframe name="Iris with Tarot" file="Iris with Tarot Gimbal.param"/>
+      <airframe name="3DR Iris+" file="3DR_Iris+.param"/>
+      <airframe name="Iris" file="Iris.param"/>
+  </airframe_group>
+  <airframe_group image="AirframeQuadRotorH.png" name="H Style" id="3">
+  </airframe_group>
+  <airframe_group image="AirframeHexaRotorX.png" name="Y6B" id="10">
+      <airframe name="3DR Y6B" file="3DR_Y6B_RTF.param"/>
+  </airframe_group>
+<airframes>

src/AutoPilotPlugins/AutoPilotPlugin.h

-/*=====================================================================
- 
- QGroundControl Open Source Ground Control Station
- 
- (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
- This file is part of the QGROUNDCONTROL project
- 
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- 
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- 
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
- ======================================================================*/
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef AUTOPILOTPLUGIN_H
-#define AUTOPILOTPLUGIN_H
-
-#include <QObject>
-#include <QList>
-#include <QString>
-#include <QQmlContext>
-
-#include "VehicleComponent.h"
-#include "FactSystem.h"
-#include "Vehicle.h"
-
-class ParameterLoader;
-class Vehicle;
-class FirmwarePlugin;
-
-/// This is the base class for AutoPilot plugins
-///
-/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
-/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
-/// code should reside in QGroundControl. The remainder of the QGroundControl source is
-/// generic to a common mavlink implementation.
-
-class AutoPilotPlugin : public QObject
-{
-    Q_OBJECT
-
-public:
-    AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
-    ~AutoPilotPlugin();
-    
-	/// true: parameters are ready for use
-	Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
-    
-    /// true: parameters are missing from firmware response, false: all parameters received from firmware
-    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
-	
-    /// List of VehicleComponent objects
-    Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
-
-	/// false: One or more vehicle components require setup
-	Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
-    
-    /// Reset all parameters to their default values
-    Q_INVOKABLE void resetAllParametersToDefaults(void);
-	
-    /// Re-request the full set of parameters from the autopilot
-	Q_INVOKABLE void refreshAllParameters(void);
-    
-    /// Request a refresh on the specific parameter
-	Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
-    
-    /// Request a refresh on all parameters that begin with the specified prefix
-	Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
-    
-	/// Returns true if the specifed parameter exists from the default component
-    Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
-	
-	/// Returns all parameter names
-	QStringList parameterNames(int componentId);
-	
-	/// Returns the specified parameter Fact from the default component
-	/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existince first with
-	/// parameterExists.
-    Fact* getParameterFact(int componentId, const QString& name);
-	
-	/// Writes the parameter facts to the specified stream
-	void writeParametersToStream(QTextStream &stream);
-	
-	/// Reads the parameters from the stream and updates values
-    /// @return Errors during load. Empty string for no errors
-	QString readParametersFromStream(QTextStream &stream);
-	
-    /// Returns true if the specifed fact exists
-    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
-                                int                     componentId,    ///< fact component, -1=default component
-                                const QString&          name);          ///< fact name
-    
-    /// Returns the specified Fact.
-    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
-    /// factExists.
-    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
-                  int                       componentId,    ///< fact component, -1=default component
-                  const QString&            name);          ///< fact name
-    
-    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
-
-    // Must be implemented by derived class
-    virtual const QVariantList& vehicleComponents(void) = 0;
-    
-	// Property accessors
-	bool parametersReady(void) { return _parametersReady; }
-    bool missingParameters(void) { return _missingParameters; }
-	bool setupComplete(void);
-	
-    Vehicle* vehicle(void) { return _vehicle; }
-    
-signals:
-    void parametersReadyChanged(bool parametersReady);
-    void missingParametersChanged(bool missingParameters);
-	void setupCompleteChanged(bool setupComplete);
-    void parameterListProgress(float value);
-	
-protected:
-    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
-    AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
-    
-    Vehicle*        _vehicle;
-    FirmwarePlugin* _firmwarePlugin;
-    bool            _parametersReady;
-    bool            _missingParameters;
-    bool            _setupComplete;
-	
-private slots:
-	void _uasDisconnected(void);
-	void _parametersReadyChanged(bool parametersReady);
-	
-private:
-	void _recalcSetupComplete(void);    
-};
-
-#endif
+        /*=====================================================================
+
+     QGroundControl Open Source Ground Control Station
+
+     (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+     This file is part of the QGROUNDCONTROL project
+
+     QGROUNDCONTROL is free software: you can redistribute it and/or modify
+     it under the terms of the GNU General Public License as published by
+     the Free Software Foundation, either version 3 of the License, or
+     (at your option) any later version.
+
+     QGROUNDCONTROL is distributed in the hope that it will be useful,
+     but WITHOUT ANY WARRANTY; without even the implied warranty of
+     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+     GNU General Public License for more details.
+
+     You should have received a copy of the GNU General Public License
+     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+     ======================================================================*/
+
+    /// @file
+    ///     @author Don Gagne <don@thegagnes.com>
+
+    #ifndef AUTOPILOTPLUGIN_H
+    #define AUTOPILOTPLUGIN_H
+
+    #include <QObject>
+    #include <QList>
+    #include <QString>
+    #include <QQmlContext>
+
+    #include "VehicleComponent.h"
+    #include "FactSystem.h"
+    #include "Vehicle.h"
+
+    class ParameterLoader;
+    class Vehicle;
+    class FirmwarePlugin;
+
+    /// This is the base class for AutoPilot plugins
+    ///
+    /// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
+    /// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
+    /// code should reside in QGroundControl. The remainder of the QGroundControl source is
+    /// generic to a common mavlink implementation.
+
+    class AutoPilotPlugin : public QObject
+    {
+        Q_OBJECT
+
+    public:
+        AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
+        ~AutoPilotPlugin();
+
+        /// true: parameters are ready for use
+        Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
+
+        /// true: parameters are missing from firmware response, false: all parameters received from firmware
+        Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
+
+        /// List of VehicleComponent objects
+        Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
+
+        /// false: One or more vehicle components require setup
+        Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
+
+        /// Reset all parameters to their default values
+        Q_INVOKABLE void resetAllParametersToDefaults(void);
+
+        /// Re-request the full set of parameters from the autopilot
+        Q_INVOKABLE void refreshAllParameters(void);
+
+        /// Request a refresh on the specific parameter
+        Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
+
+        /// Request a refresh on all parameters that begin with the specified prefix
+        Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
+
+        /// Returns true if the specifed parameter exists from the default component
+        Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
+
+        /// Returns all parameter names
+        QStringList parameterNames(int componentId);
+
+        /// Returns the specified parameter Fact from the default component
+        /// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existince first with
+        /// parameterExists.
+        Fact* getParameterFact(int componentId, const QString& name);
+
+        /// Writes the parameter facts to the specified stream
+        void writeParametersToStream(QTextStream &stream);
+
+        /// Reads the parameters from the stream and updates values
+        /// @return Errors during load. Empty string for no errors
+        QString readParametersFromStream(QTextStream &stream);
+
+        /// Returns true if the specifed fact exists
+        Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
+                                    int                     componentId,    ///< fact component, -1=default component
+                                    const QString&          name);          ///< fact name
+
+        /// Returns the specified Fact.
+        /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
+        /// factExists.
+        Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
+                      int                       componentId,    ///< fact component, -1=default component
+                      const QString&            name);          ///< fact name
+
+        const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+
+        // Must be implemented by derived class
+        virtual const QVariantList& vehicleComponents(void) = 0;
+
+        // Property accessors
+        bool parametersReady(void) { return _parametersReady; }
+        bool missingParameters(void) { return _missingParameters; }
+        bool setupComplete(void);
+
+        Vehicle* vehicle(void) { return _vehicle; }
+
+    signals:
+        void parametersReadyChanged(bool parametersReady);
+        void missingParametersChanged(bool missingParameters);
+        void setupCompleteChanged(bool setupComplete);
+        void parameterListProgress(float value);
+
+    protected:
+        /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
+        AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
+
+        Vehicle*        _vehicle;
+        FirmwarePlugin* _firmwarePlugin;
+        bool            _parametersReady;
+        bool            _missingParameters;
+        bool            _setupComplete;
+
+    private slots:
+        void _uasDisconnected(void);
+        void _parametersReadyChanged(bool parametersReady);
+
+    private:
+        void _recalcSetupComplete(void);
+    };
+
+    #endif

src/QGCApplication.cc

@@ -77,6 +77,7 @@
 #include "APM/ArduCopterFirmwarePlugin.h"
 #include "APM/ArduPlaneFirmwarePlugin.h"
 #include "APM/ArduRoverFirmwarePlugin.h"
+#include "APM/APMAirframeComponentController.h"
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
@@ -378,9 +379,10 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
 
-    qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
+    qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
     qmlRegisterType<FlightModesComponentController>     ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
+    qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
     qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
     qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
     qmlRegisterType<SensorsComponentController>         ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");

src/QmlControls/QGCView.qml

@@ -96,7 +96,7 @@ FactPanel {
             __rejectButton.text = "Cancel"
             __rejectButton.visible = true
         } else if (buttons & StandardButton.Close) {
-            __rejectButton.text = "Cancel"
+            __rejectButton.text = "Close"
             __rejectButton.visible = true
         } else if (buttons & StandardButton.No) {
             __rejectButton.text = "No"