Merge pull request #1952 from DonLakeFlyer/HILWidget

Make HIL Dock Widget a normal widget

QGCApplication.pro

@@ -168,6 +168,7 @@ FORMS += \
     src/ui/MainWindow.ui \
     src/ui/mavlink/QGCMAVLinkMessageSender.ui \
     src/ui/MAVLinkSettingsWidget.ui \
+    src/ui/MultiVehicleDockWidget.ui \
     src/ui/QGCCommConfiguration.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCLinkConfiguration.ui \
@@ -265,6 +266,7 @@ HEADERS += \
     src/ui/mavlink/QGCMAVLinkMessageSender.h \
     src/ui/MAVLinkDecoder.h \
     src/ui/MAVLinkSettingsWidget.h \
+    src/ui/MultiVehicleDockWidget.h \
     src/ui/QGCCommConfiguration.h \
     src/ui/QGCDataPlot2D.h \
     src/ui/QGCLinkConfiguration.h \
@@ -308,6 +310,7 @@ HEADERS += \
     src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
     src/ui/CameraView.h \
+    src/ui/HILDockWidget.h \
     src/ui/QGCHilConfiguration.h \
     src/ui/QGCHilFlightGearConfiguration.h \
     src/ui/QGCHilJSBSimConfiguration.h \
@@ -370,6 +373,7 @@ SOURCES += \
     src/ui/mavlink/QGCMAVLinkMessageSender.cc \
     src/ui/MAVLinkDecoder.cc \
     src/ui/MAVLinkSettingsWidget.cc \
+    src/ui/MultiVehicleDockWidget.cc \
     src/ui/QGCCommConfiguration.cc \
     src/ui/QGCDataPlot2D.cc \
     src/ui/QGCLinkConfiguration.cc \
@@ -412,6 +416,7 @@ SOURCES += \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
     src/ui/CameraView.cc \
+    src/ui/HILDockWidget.cc \
     src/ui/QGCHilConfiguration.cc \
     src/ui/QGCHilFlightGearConfiguration.cc \
     src/ui/QGCHilJSBSimConfiguration.cc \

src/audio/QGCAudioWorker.h

@@ -16,6 +16,7 @@
 
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
+#include <basetyps.h>
 #include <sapi.h>
 #endif
 

src/ui/HILDockWidget.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 "HILDockWidget.h"
+#include "QGCHilConfiguration.h"
+
+HILDockWidget::HILDockWidget(QWidget *parent)
+    : MultiVehicleDockWidget(parent)
+{
+    init();
+}
+
+HILDockWidget::~HILDockWidget()
+{
+
+}
+
+QWidget* HILDockWidget::_newVehicleWidget(Vehicle* vehicle, QWidget* parent)
+{
+    return new QGCHilConfiguration(vehicle, parent);
+}

src/ui/HILDockWidget.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 HILDockWidget_H
+#define HILDockWidget_H
+
+#include "MultiVehicleDockWidget.h"
+
+class HILDockWidget : public MultiVehicleDockWidget
+{
+    Q_OBJECT
+
+public:
+    explicit HILDockWidget(QWidget *parent = 0);
+    ~HILDockWidget();
+
+protected:
+    // Override from MultiVehicleDockWidget
+    virtual QWidget* _newVehicleWidget(Vehicle* vehicle, QWidget* parent);
+};
+
+#endif

src/ui/MainWindow.cc

@@ -33,20 +33,13 @@ This file is part of the QGROUNDCONTROL project
 #include <QTimer>
 #include <QHostInfo>
 #include <QSplashScreen>
-#ifndef __mobile__
-#include <QGCHilLink.h>
-#include <QGCHilConfiguration.h>
-#include <QGCHilFlightGearConfiguration.h>
-#endif
+
 #include <QQuickView>
 #include <QDesktopWidget>
 #include <QScreen>
 #include <QDesktopServices>
 
 #include "QGC.h"
-#ifndef __ios__
-#include "SerialLink.h"
-#endif
 #include "MAVLinkProtocol.h"
 #include "MainWindow.h"
 #include "GAudioOutput.h"
@@ -71,6 +64,15 @@ This file is part of the QGROUNDCONTROL project
 #include "CustomCommandWidget.h"
 #include "HomePositionManager.h"
 #include "MissionEditor.h"
+#include "LogCompressor.h"
+
+#ifndef __mobile__
+#include "HILDockWidget.h"
+#endif
+
+#ifndef __ios__
+#include "SerialLink.h"
+#endif
 
 #ifdef UNITTEST_BUILD
 #include "QmlControls/QmlTestWidget.h"
@@ -80,7 +82,6 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidgetFactory.h"
 #endif
 
-#include "LogCompressor.h"
 
 /// The key under which the Main Window settings are saved
 const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";
@@ -92,6 +93,7 @@ const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DO
 const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET";
 const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
 const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET";
+const char* MainWindow::_hilDockWidgetName = "HIL_DOCKWIDGET";
 
 static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
 
@@ -163,7 +165,7 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
 #ifdef UNITTEST_BUILD
     QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
     connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
-    _ui.menuTools->addAction(qmlTestAction);
+    _ui.menuWidgets->addAction(qmlTestAction);
 #endif
 
     // Load QML Toolbar
@@ -267,14 +269,12 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
     _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
     _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
     _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0));
-    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
     _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0));
 #else
     _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0));
     _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0));
     _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0));
     _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0));
-    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
     _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0));
 #endif
 
@@ -341,7 +341,7 @@ void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt
     action->setCheckable(true);
     action->setData(name);
     connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
-    _ui.menuTools->addAction(action);
+    _ui.menuWidgets->addAction(action);
 	
 	// Create widget
 	QGCDockWidget* dockWidget = new QGCDockWidget(title, action, this);
@@ -391,6 +391,7 @@ void MainWindow::_buildCommonWidgets(void)
         { _mapViewDockWidgetName,           "Map view",                 Qt::RightDockWidgetArea },
         { _pfdDockWidgetName,               "Primary Flight Display",   Qt::RightDockWidgetArea },
         { _uasInfoViewDockWidgetName,       "Info View",                Qt::LeftDockWidgetArea },
+        { _hilDockWidgetName,               "HIL Config",               Qt::LeftDockWidgetArea },
     };
     static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]);
 
@@ -482,6 +483,10 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
         widget = new UASInfoWidget(this);
     } else if (widgetName == _pfdDockWidgetName) {
         widget = new FlightDisplayWidget(this);
+#ifndef __mobile__
+    } else if (widgetName == _hilDockWidgetName) {
+        widget = new HILDockWidget(this);
+#endif
     } else if (widgetName == _uasInfoViewDockWidgetName) {
         QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(this);
         pInfoView->addSource(mavlinkDecoder);
@@ -498,48 +503,6 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
     }
 }
 
-#ifndef __mobile__
-void MainWindow::_showHILConfigurationWidgets(void)
-{
-    Vehicle* vehicle = MultiVehicleManager::instance()->activeVehicle();
-
-    if (!vehicle) {
-        return;
-    }
-
-    UAS* mav = vehicle->uas();
-    Q_ASSERT(mav);
-
-    int uasId = mav->getUASID();
-
-    if (!_mapUasId2HilDockWidget.contains(uasId)) {
-
-        // Create QDockWidget
-        QGCDockWidget* dockWidget = new QGCDockWidget(tr("HIL Config %1").arg(uasId), NULL, this);
-        Q_CHECK_PTR(dockWidget);
-        dockWidget->setObjectName(tr("HIL_CONFIG_%1").arg(uasId));
-        dockWidget->setVisible (false);
-
-        // Create inner widget and set it
-        QWidget* widget = new QGCHilConfiguration(mav, dockWidget);
-
-        widget->setParent(dockWidget);
-        dockWidget->setWidget(widget);
-
-        _mapUasId2HilDockWidget[uasId] = dockWidget;
-
-        addDockWidget(Qt::LeftDockWidgetArea, dockWidget);
-    }
-
-    if (_currentView == VIEW_SIMULATION) {
-        // HIL dock widgets only show up on simulation view
-        foreach (QDockWidget* dockWidget, _mapUasId2HilDockWidget) {
-            dockWidget->setVisible(true);
-        }
-    }
-}
-#endif
-
 void MainWindow::fullScreenActionItemCallback(bool)
 {
     _ui.actionNormal->setChecked(false);
@@ -650,7 +613,6 @@ void MainWindow::connectCommonActions()
     QActionGroup* perspectives = new QActionGroup(_ui.menuPerspectives);
     perspectives->addAction(_ui.actionAnalyze);
     perspectives->addAction(_ui.actionFlight);
-    perspectives->addAction(_ui.actionSimulationView);
     perspectives->addAction(_ui.actionPlan);
     perspectives->addAction(_ui.actionSetup);
     perspectives->setExclusive(true);
@@ -666,11 +628,6 @@ void MainWindow::connectCommonActions()
         _ui.actionFlight->setChecked(true);
         _ui.actionFlight->activate(QAction::Trigger);
     }
-    if (_currentView == VIEW_SIMULATION)
-    {
-        _ui.actionSimulationView->setChecked(true);
-        _ui.actionSimulationView->activate(QAction::Trigger);
-    }
     if (_currentView == VIEW_MISSIONEDITOR)
     {
         _ui.actionPlan->setChecked(true);
@@ -687,11 +644,9 @@ void MainWindow::connectCommonActions()
 
     // Connect internal actions
     connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MainWindow::_vehicleRemoved);
 
     // Views actions
     connect(_ui.actionFlight,           SIGNAL(triggered()), this, SLOT(loadFlightView()));
-    connect(_ui.actionSimulationView,   SIGNAL(triggered()), this, SLOT(loadSimulationView()));
     connect(_ui.actionAnalyze,          SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
     connect(_ui.actionPlan,             SIGNAL(triggered()), this, SLOT(loadPlanView()));
     
@@ -763,11 +718,6 @@ void MainWindow::_vehicleAdded(Vehicle* vehicle)
 {
     connect(vehicle->uas(), SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
-    // HIL
-#ifndef __mobile__
-    _showHILConfigurationWidgets();
-#endif
-
     if (!linechartWidget)
     {
         linechartWidget = new Linecharts(this);
@@ -781,22 +731,9 @@ void MainWindow::_vehicleAdded(Vehicle* vehicle)
     }
 }
 
-void MainWindow::_vehicleRemoved(Vehicle* vehicle)
-{
-    int vehicleId = vehicle->id();
-    
-    if (_mapUasId2HilDockWidget.contains(vehicleId)) {
-        _mapUasId2HilDockWidget[vehicleId]->deleteLater();
-        _mapUasId2HilDockWidget.remove(vehicleId);
-    }
-}
-
 /// Stores the state of the toolbar, status bar and widgets associated with the current view
 void MainWindow::_storeCurrentViewState(void)
 {
-    // HIL dock widgets are dynamic and are not part of the saved state
-    _hideAllHilDockWidgets();
-    
 #ifndef __mobile__
     // Save list of visible widgets
     bool firstWidget = true;
@@ -845,12 +782,6 @@ void MainWindow::_loadCurrentViewState(void)
             centerView = _missionEditorView;
             break;
 
-        case VIEW_SIMULATION:
-            _buildSimView();
-            centerView = _simView;
-            defaultWidgets = "WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
-            break;
-
         default:
             Q_ASSERT(false);
             break;
@@ -893,30 +824,16 @@ void MainWindow::_loadCurrentViewState(void)
         restoreState(settings.value(_getWindowStateKey()).toByteArray());
     }
 
-    // HIL dock widget are dynamic and don't take part in the saved window state, so this
-    // need to happen after we restore state
-#ifndef __mobile__
-    _showHILConfigurationWidgets();
-#endif
-
     // There is a bug in Qt where a Canvas element inside a QQuickWidget does not
     // receive update requests. Here we emit a signal for them to get repainted.
     emit repaintCanvas();
 }
 
-void MainWindow::_hideAllHilDockWidgets(void)
-{
-    foreach(QDockWidget* dockWidget, _mapUasId2HilDockWidget) {
-        dockWidget->setVisible(false);
-    }
-}
-
 void MainWindow::_hideAllDockWidgets(void)
 {
     foreach(QDockWidget* dockWidget, _mapName2DockWidget) {
         dockWidget->setVisible(false);
     }
-    _hideAllHilDockWidgets();
 }
 
 void MainWindow::_showDockWidgetAction(bool show)
@@ -971,17 +888,6 @@ void MainWindow::loadFlightView()
     }
 }
 
-void MainWindow::loadSimulationView()
-{
-    if (_currentView != VIEW_SIMULATION)
-    {
-        _storeCurrentViewState();
-        _currentView = VIEW_SIMULATION;
-        _ui.actionSimulationView->setChecked(true);
-        _loadCurrentViewState();
-    }
-}
-
 /// @brief Hides the spash screen if it is currently being shown
 void MainWindow::hideSplashScreen(void)
 {

src/ui/MainWindow.h

@@ -124,7 +124,6 @@ public slots:
 
     void loadSetupView();
     void loadFlightView();
-    void loadSimulationView();
     void loadAnalyzeView();
     void loadPlanView();
     
@@ -193,7 +192,7 @@ protected:
         VIEW_ANALYZE,           // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
         VIEW_UNUSED3,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_FLIGHT,            // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
-        VIEW_SIMULATION,        // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
+        VIEW_UNUSED4,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_SETUP,             // Setup view. Used for initializing the system for operation.
         VIEW_UNUSED1,           // Unused (don't remove, or it will screw up saved settigns indices)
         VIEW_UNUSED2,           // Unused (don't remove, or it will screw up saved settigns indices)
@@ -261,7 +260,6 @@ private slots:
     
 private slots:
     void _vehicleAdded(Vehicle* vehicle);
-    void _vehicleRemoved(Vehicle* vehicle);
 
 private:
     /// Constructor is private since all creation should be through MainWindow::_create
@@ -279,8 +277,6 @@ private:
     QPointer<QWidget> _missionEditorView;
 
     // Dock widget names
-    static const char* _uasControlDockWidgetName;
-    static const char* _uasListDockWidgetName;
     static const char* _mavlinkDockWidgetName;
     static const char* _customCommandWidgetName;
     static const char* _filesDockWidgetName;
@@ -288,9 +284,9 @@ private:
     static const char* _mapViewDockWidgetName;
     static const char* _pfdDockWidgetName;
     static const char* _uasInfoViewDockWidgetName;
+    static const char* _hilDockWidgetName;
 
     QMap<QString, QDockWidget*>     _mapName2DockWidget;
-    QMap<int, QDockWidget*>         _mapUasId2HilDockWidget;
     QMap<QDockWidget*, QAction*>    _mapDockWidget2Action;
 
     void _buildPlanView(void);
@@ -307,12 +303,8 @@ private:
     void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget);
     void _createInnerDockWidget(const QString& widgetName);
     void _buildCommonWidgets(void);
-    void _hideAllHilDockWidgets(void);
     void _hideAllDockWidgets(void);
     void _showDockWidget(const QString &name, bool show);
-#ifndef __mobile__
-    void _showHILConfigurationWidgets(void);
-#endif
 
     bool                    _autoReconnect;
     bool                    _lowPowerMode;           ///< If enabled, QGC reduces the update rates of all widgets

src/ui/MainWindow.ui

@@ -87,24 +87,14 @@
     <addaction name="separator"/>
     <addaction name="actionStatusBar"/>
    </widget>
-   <widget class="QMenu" name="menuAdvanced">
+   <widget class="QMenu" name="menuWidgets">
     <property name="title">
-     <string>Advanced</string>
+     <string>Widgets</string>
     </property>
-    <widget class="QMenu" name="menuTools">
-     <property name="title">
-      <string>Tool Widgets</string>
-     </property>
-     <addaction name="separator"/>
-    </widget>
-    <addaction name="actionSimulationView"/>
-    <addaction name="separator"/>
-    <addaction name="separator"/>
-    <addaction name="menuTools"/>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuPerspectives"/>
-   <addaction name="menuAdvanced"/>
+   <addaction name="menuWidgets"/>
    <addaction name="menuHelp"/>
   </widget>
   <widget class="QStatusBar" name="statusBar"/>
@@ -226,14 +216,6 @@
     <string>Advanced Mode</string>
    </property>
   </action>
-  <action name="actionSimulationView">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>HIL Simulation</string>
-   </property>
-  </action>
   <action name="actionStatusBar">
    <property name="checkable">
     <bool>true</bool>

src/ui/MultiVehicleDockWidget.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 "MultiVehicleDockWidget.h"
+#include "ui_MultiVehicleDockWidget.h"
+#include "MultiVehicleManager.h"
+
+MultiVehicleDockWidget::MultiVehicleDockWidget(QWidget *parent)
+    : QWidget(parent)
+    , _ui(new Ui::MultiVehicleDockWidget)
+{
+    _ui->setupUi(this);
+    
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MultiVehicleDockWidget::_activeVehicleChanged);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MultiVehicleDockWidget::_vehicleAdded);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MultiVehicleDockWidget::_vehicleRemoved);
+}
+
+void MultiVehicleDockWidget::init(void)
+{
+    if (MultiVehicleManager::instance()->activeVehicle()) {
+        _vehicleAdded(MultiVehicleManager::instance()->activeVehicle());
+        _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    }
+}
+
+MultiVehicleDockWidget::~MultiVehicleDockWidget()
+{
+    delete _ui;
+}
+
+void MultiVehicleDockWidget::_vehicleRemoved(Vehicle* vehicle)
+{
+    int id = vehicle->id();
+    
+    if (_vehicleWidgets.contains(id)) {
+        _vehicleWidgets[id]->deleteLater();
+        _vehicleWidgets.remove(id);
+    }
+}
+
+void MultiVehicleDockWidget::_vehicleAdded(Vehicle* vehicle)
+{
+    int id = vehicle->id();
+    
+    if (!_vehicleWidgets.contains(id)) {
+        QWidget* vehicleWidget = _newVehicleWidget(vehicle, _ui->stackedWidget);
+        _vehicleWidgets[id] = vehicleWidget;
+        _ui->stackedWidget->addWidget(vehicleWidget);
+    }
+}
+
+void MultiVehicleDockWidget::_activeVehicleChanged(Vehicle* vehicle)
+{
+    if (vehicle) {
+        int id = vehicle->id();
+        
+        if (!_vehicleWidgets.contains(id)) {
+            _vehicleAdded(vehicle);
+        }
+        
+        QWidget* vehicleWidget = _vehicleWidgets[id];
+        _ui->stackedWidget->setCurrentWidget(vehicleWidget);
+    }
+}

src/ui/MultiVehicleDockWidget.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 MultiVehicleDockWidget_H
+#define MultiVehicleDockWidget_H
+
+#include <QWidget>
+#include <QMap>
+
+#include "Vehicle.h"
+
+namespace Ui
+{
+    class MultiVehicleDockWidget;
+}
+
+/// Provides a base class for a dock widget which automatically handles
+/// Vehicles coming and going. It does this by using a stacked widget which
+/// holds individual Vehicle specific widgets.
+class MultiVehicleDockWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit MultiVehicleDockWidget(QWidget *parent = 0);
+    ~MultiVehicleDockWidget();
+    
+    /// Must be called in the derived class contructor to initialize the base class
+    void init(void);
+
+protected:
+    /// Derived class must implement this to create the QWidget for the
+    /// specified Vehicle.
+    virtual QWidget* _newVehicleWidget(Vehicle* vehicle, QWidget* parent) = 0;
+    
+private slots:
+    void _vehicleAdded(Vehicle* vehicle);
+    void _vehicleRemoved(Vehicle* vehicle);
+    void _activeVehicleChanged(Vehicle* vehicle);
+
+private:
+    QMap<int, QWidget*> _vehicleWidgets;
+    
+    Ui::MultiVehicleDockWidget* _ui;
+};
+
+#endif

src/ui/MultiVehicleDockWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MultiVehicleDockWidget</class>
+ <widget class="QWidget" name="MultiVehicleDockWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>200</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QStackedWidget" name="stackedWidget"/>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCHilConfiguration.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 <QSettings>
 
 #include "QGCHilConfiguration.h"
@@ -7,10 +30,10 @@
 #include "QGCHilJSBSimConfiguration.h"
 #include "QGCHilXPlaneConfiguration.h"
 
-QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
-    QWidget(parent),
-    mav(mav),
-    ui(new Ui::QGCHilConfiguration)
+QGCHilConfiguration::QGCHilConfiguration(Vehicle* vehicle, QWidget *parent)
+    : QWidget(parent)
+    , _vehicle(vehicle)
+    , ui(new Ui::QGCHilConfiguration)
 {
     ui->setupUi(this);
 
@@ -29,8 +52,6 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     }
 
     settings.endGroup();
-
-    connect(mav, SIGNAL(destroyed()), this, SLOT(deleteLater()));
 }
 
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)
@@ -65,11 +86,11 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     if(1 == index)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilFlightGear(false, "", true, this);
-        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
+        _vehicle->uas()->enableHilFlightGear(false, "", true, this);
+        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(_vehicle->uas(), this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
-        QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(mav->getHILSimulation());
+        QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(_vehicle->uas()->getHILSimulation());
         if (fg)
         {
             connect(fg, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
@@ -79,13 +100,13 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     else if (2 == index || 3 == index)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilXPlane(false);
-        QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
+        _vehicle->uas()->enableHilXPlane(false);
+        QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(_vehicle->uas()->getHILSimulation(), this);
         hxpconf->show();
         ui->simulatorConfigurationLayout->addWidget(hxpconf);
 
         // Select correct version of XPlane
-        QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(mav->getHILSimulation());
+        QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(_vehicle->uas()->getHILSimulation());
         if (xplane)
         {
             xplane->setVersion((index == 2) ? 10 : 9);
@@ -95,11 +116,11 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     else if (4)
     {
         // Ensure the sim exists and is disabled
-        mav->enableHilJSBSim(false, "");
-        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(mav, this);
+        _vehicle->uas()->enableHilJSBSim(false, "");
+        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(_vehicle->uas(), this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
-        QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(mav->getHILSimulation());
+        QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(_vehicle->uas()->getHILSimulation());
         if (jsb)
         {
             connect(jsb, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));

src/ui/QGCHilConfiguration.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 QGCHILCONFIGURATION_H
 #define QGCHILCONFIGURATION_H
 
 #include <QWidget>
 
-#include "QGCHilLink.h"
-#include "UAS.h"
+#include "Vehicle.h"
 
 namespace Ui {
 class QGCHilConfiguration;
@@ -15,7 +37,7 @@ class QGCHilConfiguration : public QWidget
     Q_OBJECT
     
 public:
-    QGCHilConfiguration(UAS* mav, QWidget *parent = 0);
+    QGCHilConfiguration(Vehicle* vehicle, QWidget *parent = 0);
     ~QGCHilConfiguration();
 
 public slots:
@@ -23,13 +45,12 @@ public slots:
     void receiveStatusMessage(const QString& message);
     void setVersion(QString version);
 
-protected:
-    UAS* mav;
-    
 private slots:
     void on_simComboBox_currentIndexChanged(int index);
 
 private:
+    Vehicle* _vehicle;
+    
     Ui::QGCHilConfiguration *ui;
 };