Remove as many Singletons as possible

Instead us a Toolbox concept which hangs off of QGCApplication

QGCApplication.pro

@@ -242,6 +242,7 @@ HEADERS += \
     src/QGCQuickWidget.h \
     src/QGCSingleton.h \
     src/QGCTemporaryFile.h \
+    src/QGCToolbox.h \
     src/QmlControls/CoordinateVector.h \
     src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
@@ -356,6 +357,7 @@ SOURCES += \
     src/QGCQuickWidget.cc \
     src/QGCSingleton.cc \
     src/QGCTemporaryFile.cc \
+    src/QGCToolbox.cc \
     src/QGCGeo.cc \
     src/QmlControls/CoordinateVector.cc \
     src/QmlControls/ParameterEditorController.cc \

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -101,7 +101,7 @@ bool AutoPilotPlugin::setupComplete(void)
 void AutoPilotPlugin::resetAllParametersToDefaults(void)
 {
     mavlink_message_t msg;
-    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->uas()->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 0, 2, -1, 0, 0, 0, 0, 0);
     _vehicle->sendMessage(msg);

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -29,14 +29,6 @@
 #include "APM/APMAutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 
-IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
-
-AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
-    QGCSingleton(parent)
-{
-
-}
-
 AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
 {
     switch (vehicle->firmwareType()) {

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -32,23 +32,19 @@
 #include <QString>
 
 #include "AutoPilotPlugin.h"
-#include "QGCSingleton.h"
 #include "Vehicle.h"
+#include "QGCToolbox.h"
 
-/// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
+class QGCApplication;
 
-class AutoPilotPluginManager : public QGCSingleton
+class AutoPilotPluginManager : public QGCTool
 {
     Q_OBJECT
-    
-    DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 public:
+    AutoPilotPluginManager(QGCApplication* app) : QGCTool(app) { }
+
     AutoPilotPlugin* newAutopilotPluginForVehicle(Vehicle* vehicle);
-    
-private:
-    /// All access to singleton is through AutoPilotPluginManager::instance
-    AutoPilotPluginManager(QObject* parent = NULL);
 };
 
 #endif

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -98,7 +98,7 @@ AirframeComponentController::~AirframeComponentController()
 
 void AirframeComponentController::changeAutostart(void)
 {
-	if (MultiVehicleManager::instance()->vehicles().count() > 1) {
+	if (qgcApp()->toolbox()->multiVehicleManager()->vehicles().count() > 1) {
 		QGCMessageBox::warning("Airframe Config", "You cannot change airframe configuration while connected to multiple vehicles.");
 		return;
 	}
@@ -139,7 +139,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
         QGC::SLEEP::usleep(500);
         qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    LinkManager::instance()->disconnectAll();
+    qgcApp()->toolbox()->linkManager()->disconnectAll();
     qgcApp()->restoreOverrideCursor();
 }
 

src/FactSystem/Fact.cc

@@ -135,7 +135,6 @@ QString Fact::valueString(void) const
 
     switch (type()) {
         case FactMetaData::valueTypeFloat:
-            qDebug() << name() << value() << decimalPlaces();
             valueString = QString("%1").arg(value().toFloat(), 0, 'g', decimalPlaces());
             break;
         case FactMetaData::valueTypeDouble:

src/FactSystem/FactControls/FactPanelController.cc

@@ -36,7 +36,7 @@ QGC_LOGGING_CATEGORY(FactPanelControllerLog, "FactPanelControllerLog")
 FactPanelController::FactPanelController(void) :
     _factPanel(NULL)
 {
-    _vehicle = MultiVehicleManager::instance()->activeVehicle();
+    _vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
     Q_ASSERT(_vehicle);
     
     _uas = _vehicle->uas();

src/FactSystem/FactSystem.cc

@@ -29,19 +29,18 @@
 
 #include <QtQml>
 
-IMPLEMENT_QGC_SINGLETON(FactSystem, FactSystem)
-
 const char* FactSystem::_factSystemQmlUri = "QGroundControl.FactSystem";
 
-FactSystem::FactSystem(QObject* parent) :
-    QGCSingleton(parent)
+FactSystem::FactSystem(QGCApplication* app)
+    : QGCTool(app)
 {
-    
-    qmlRegisterType<Fact>(_factSystemQmlUri, 1, 0, "Fact");
-    qmlRegisterType<FactPanelController>(_factSystemQmlUri, 1, 0, "FactPanelController");
+
 }
 
-FactSystem::~FactSystem()
+void FactSystem::setToolbox(QGCToolbox *toolbox)
 {
+    QGCTool::setToolbox(toolbox);
 
+    qmlRegisterType<Fact>(_factSystemQmlUri, 1, 0, "Fact");
+    qmlRegisterType<FactPanelController>(_factSystemQmlUri, 1, 0, "FactPanelController");
 }

src/FactSystem/FactSystem.h

@@ -29,10 +29,8 @@
 
 #include "Fact.h"
 #include "FactMetaData.h"
-#include "QGCSingleton.h"
+#include "QGCToolbox.h"
 
-/// FactSystem is a singleton which provides access to the Facts in the system
-///
 /// The components of the FactSystem are a Fact which holds an individual value. FactMetaData holds
 /// additional meta data associated with a Fact such as description, min/max ranges and so forth.
 /// The FactValidator object is a QML validator which validates input according to the FactMetaData
@@ -40,13 +38,17 @@
 /// of this is the PX4ParameterMetaData onbject which is part of the PX4 AutoPilot plugin. It exposes
 /// the firmware parameters to QML such that you can bind QML ui elements directly to parameters.
 
-class FactSystem : public QGCSingleton
+class FactSystem : public QGCTool
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(FactSystem, FactSystem)
-    
 public:
+    /// All access to FactSystem is through FactSystem::instance, so constructor is private
+    FactSystem(QGCApplication* app);
+
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
     typedef enum {
         ParameterProvider,
     } Provider_t;
@@ -54,10 +56,6 @@ public:
     static const int defaultComponentId = -1;
     
 private:
-    /// All access to FactSystem is through FactSystem::instance, so constructor is private
-    FactSystem(QObject* parent = NULL);
-    ~FactSystem();
-    
     static const char* _factSystemQmlUri;   ///< URI for FactSystem QML imports
 };
 

src/FactSystem/FactSystemTestBase.cc

@@ -44,19 +44,9 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
 {
     UnitTest::init();
     
-    MockLink* link = new MockLink();
-    link->setFirmwareType(autopilot);
-    LinkManager::instance()->_addLink(link);
+    _connectMockLink(autopilot);
     
-    LinkManager::instance()->connectLink(link);
-    
-    // Wait for the Vehicle to get created
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
-    QCOMPARE(spyVehicle.wait(5000), true);
-    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
-    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
-    
-    _plugin = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
+    _plugin = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
     Q_ASSERT(_plugin);
 }
 

src/FactSystem/ParameterLoader.cc

@@ -50,7 +50,7 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, Q
     QObject(parent),
     _autopilot(autopilot),
     _vehicle(vehicle),
-    _mavlink(MAVLinkProtocol::instance()),
+    _mavlink(qgcApp()->toolbox()->mavlinkProtocol()),
     _parametersReady(false),
     _initialLoadComplete(false),
     _defaultComponentId(FactSystem::defaultComponentId),
@@ -308,7 +308,7 @@ void ParameterLoader::refreshAllParameters(void)
     
     _dataMutex.unlock();
     
-    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     Q_ASSERT(mavlink);
     
     mavlink_message_t msg;
@@ -501,7 +501,7 @@ void ParameterLoader::_tryCacheLookup()
     /* Start waiting for 2.5 seconds to get a cache hit and avoid loading all params over the radio */
     _cacheTimeoutTimer.start();
 
-    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     Q_ASSERT(mavlink);
 
     mavlink_message_t msg;
@@ -825,7 +825,7 @@ void ParameterLoader::_checkInitialLoadComplete(void)
     
     // Check for any errors during vehicle boot
     
-    UASMessageHandler* msgHandler = UASMessageHandler::instance();
+    UASMessageHandler* msgHandler = qgcApp()->toolbox()->uasMessageHandler();
     if (msgHandler->getErrorCountTotal()) {
         QString errors;
         bool firstError = true;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -139,8 +139,7 @@ QString APMCustomMode::modeString() const
     return mode;
 }
 
-APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent)
-    : FirmwarePlugin(parent)
+APMFirmwarePlugin::APMFirmwarePlugin(void)
 {
      _textSeverityAdjustmentNeeded = false;
 }

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -94,7 +94,7 @@ public:
 
 protected:
     /// All access to singleton is through stack specific implementation
-    APMFirmwarePlugin(QObject* parent = NULL);
+    APMFirmwarePlugin(void);
     void setSupportedModes(QList<APMCustomMode> supportedModes);
     
 private:

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -53,8 +53,7 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : APMCustomMode(mode,
     setEnumToStringMapping(enumToString);
 }
 
-ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject* parent) :
-    APMFirmwarePlugin(parent)
+ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
 {
     QList<APMCustomMode> supportedFlightModes;
     supportedFlightModes << APMCopterMode(APMCopterMode::STABILIZE ,true);

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -68,7 +68,7 @@ public:
 
 protected:
     /// All access to singleton is through instance()
-    ArduCopterFirmwarePlugin(QObject* parent = NULL);
+    ArduCopterFirmwarePlugin(void);
     
 private:
 };

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

@@ -50,8 +50,7 @@ APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable) : APMCustomMode(mode, s
     setEnumToStringMapping(enumToString);
 }
 
-ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(QObject* parent) :
-    APMFirmwarePlugin(parent)
+ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
 {
     QList<APMCustomMode> supportedFlightModes;
     supportedFlightModes << APMPlaneMode(APMPlaneMode::MANUAL          ,true);

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -66,7 +66,7 @@ public:
 
 protected:
     /// All access to singleton is through instance()
-    ArduPlaneFirmwarePlugin(QObject* parent = NULL);
+    ArduPlaneFirmwarePlugin(void);
     
 private:
 };

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

@@ -44,8 +44,7 @@ APMRoverMode::APMRoverMode(uint32_t mode, bool settable) : APMCustomMode(mode, s
     setEnumToStringMapping(enumToString);
 }
 
-ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(QObject* parent) :
-    APMFirmwarePlugin(parent)
+ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
 {
     QList<APMCustomMode> supportedFlightModes;
     supportedFlightModes << APMRoverMode(APMRoverMode::MANUAL       ,true);

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h

@@ -66,7 +66,7 @@ public:
 
 protected:
     /// All access to singleton is through instance()
-    ArduRoverFirmwarePlugin(QObject* parent = NULL);
+    ArduRoverFirmwarePlugin(void);
     
 private:
 };

src/FirmwarePlugin/FirmwarePlugin.h

@@ -112,7 +112,7 @@ public:
     virtual void addMetaDataToFact(Fact* fact) = 0;
     
 protected:
-    FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
+    FirmwarePlugin(void) { };
 };
 
 #endif

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -31,19 +31,6 @@
 #include "APM/ArduRoverFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
-IMPLEMENT_QGC_SINGLETON(FirmwarePluginManager, FirmwarePluginManager)
-
-FirmwarePluginManager::FirmwarePluginManager(QObject* parent) :
-    QGCSingleton(parent)
-{
-
-}
-
-FirmwarePluginManager::~FirmwarePluginManager()
-{
-
-}
-
 FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType)
 {
     switch (autopilotType) {

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -29,29 +29,26 @@
 
 #include <QObject>
 
-#include "QGCSingleton.h"
 #include "FirmwarePlugin.h"
 #include "QGCMAVLink.h"
+#include "QGCToolbox.h"
+
+class QGCApplication;
 
 /// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
 
-class FirmwarePluginManager : public QGCSingleton
+class FirmwarePluginManager : public QGCTool
 {
     Q_OBJECT
-    
-    DECLARE_QGC_SINGLETON(FirmwarePluginManager, FirmwarePluginManager)
 
 public:
+    FirmwarePluginManager(QGCApplication* app) : QGCTool(app) { }
+
     /// Returns appropriate plugin for autopilot type.
     ///     @param autopilotType Type of autopilot to return plugin for.
     ///     @param vehicleType Vehicle type of autopilot to return plugin for.
     /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
     FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType);
-    
-private:
-    /// All access to singleton is through FirmwarePluginManager::instance
-    FirmwarePluginManager(QObject* parent = NULL);
-    ~FirmwarePluginManager();
 };
 
 #endif

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -31,8 +31,7 @@
 
 IMPLEMENT_QGC_SINGLETON(GenericFirmwarePlugin, FirmwarePlugin)
 
-GenericFirmwarePlugin::GenericFirmwarePlugin(QObject* parent)
-    : FirmwarePlugin(parent)
+GenericFirmwarePlugin::GenericFirmwarePlugin(void)
 {
     
 }

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -51,8 +51,7 @@ public:
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }
 
 private:
-    /// All access to singleton is through AutoPilotPluginManager::instance
-    GenericFirmwarePlugin(QObject* parent = NULL);
+    GenericFirmwarePlugin(void);
 };
 
 #endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -88,8 +88,7 @@ static const struct Modes2Name rgModes2Name[] = {
 };
 
 
-PX4FirmwarePlugin::PX4FirmwarePlugin(QObject* parent)
-    : FirmwarePlugin(parent)
+PX4FirmwarePlugin::PX4FirmwarePlugin(void)
 {
     
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -53,7 +53,7 @@ public:
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
-    PX4FirmwarePlugin(QObject* parent = NULL);
+    PX4FirmwarePlugin(void);
 
     PX4ParameterMetaData    _parameterMetaData;
 };

src/FlightMap/FlightMapSettings.cc

@@ -26,27 +26,26 @@
 #include <QSettings>
 #include <QtQml>
 
-IMPLEMENT_QGC_SINGLETON(FlightMapSettings, FlightMapSettings)
-
 const char* FlightMapSettings::_defaultMapProvider =    "Bing";                 // Bing is default since it support full street/satellite/hybrid set
 const char* FlightMapSettings::_settingsGroup =         "FlightMapSettings";
 const char* FlightMapSettings::_mapProviderKey =        "MapProvider";
 const char* FlightMapSettings::_mapTypeKey =            "MapType";
 
-FlightMapSettings::FlightMapSettings(QObject* parent)
-    : QObject(parent)
+FlightMapSettings::FlightMapSettings(QGCApplication* app)
+    : QGCTool(app)
     , _mapProvider(_defaultMapProvider)
 {
-    qmlRegisterUncreatableType<FlightMapSettings> ("QGroundControl", 1, 0, "FlightMapSetting", "Reference only");
-    
-    _supportedMapProviders << "Bing" << "Google" << "Open";
-    
-    _loadSettings();
 }
 
-FlightMapSettings::~FlightMapSettings()
+void FlightMapSettings::setToolbox(QGCToolbox *toolbox)
 {
+    QGCTool::setToolbox(toolbox);
 
+    qmlRegisterUncreatableType<FlightMapSettings> ("QGroundControl", 1, 0, "FlightMapSetting", "Reference only");
+
+    _supportedMapProviders << "Bing" << "Google" << "Open";
+
+    _loadSettings();
 }
 
 void FlightMapSettings::_storeSettings(void)

src/FlightMap/FlightMapSettings.h

@@ -24,17 +24,18 @@ This file is part of the QGROUNDCONTROL project
 #ifndef FlightMapSettings_H
 #define FlightMapSettings_H
 
-#include "QGCSingleton.h"
+#include "QGCToolbox.h"
 
+#include <QObject>
 #include <QStringList>
 
-class FlightMapSettings : public QObject
+class FlightMapSettings : public QGCTool
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(FlightMapSettings, FlightMapSettings)
-
 public:
+    FlightMapSettings(QGCApplication* app);
+
     /// mapProvider is either Bing, Google or Open to specify to set of maps available
     Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider NOTIFY mapProviderChanged)
     
@@ -54,15 +55,14 @@ public:
     QString mapProvider(void);
     void setMapProvider(const QString& mapProvider);
     
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 signals:
     void mapProviderChanged(const QString& mapProvider);
     void mapTypesChanged(const QStringList& mapTypes);
     
 private:
-    /// @brief All access to FlightMapSettings singleton is through FlightMapSettings::instance
-    FlightMapSettings(QObject* parent = NULL);
-    ~FlightMapSettings();
-    
     void _storeSettings(void);
     void _loadSettings(void);
     

src/GAudioOutput.cc

@@ -43,12 +43,10 @@ This file is part of the QGROUNDCONTROL project
 #include <QtAndroidExtras/QAndroidJniObject>
 #endif
 
-IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
-
 const char* GAudioOutput::_mutedKey = "AudioMuted";
 
-GAudioOutput::GAudioOutput(QObject *parent)
-    : QGCSingleton(parent)
+GAudioOutput::GAudioOutput(QGCApplication* app)
+    : QGCTool(app)
     , muted(false)
 #ifndef __android__
     , thread(new QThread())
@@ -57,7 +55,7 @@ GAudioOutput::GAudioOutput(QObject *parent)
 {
     QSettings settings;
     muted = settings.value(_mutedKey, false).toBool();
-    muted |= qgcApp()->runningUnitTests();
+    muted |= app->runningUnitTests();
 #ifndef __android__
     worker->moveToThread(thread);
     connect(this, &GAudioOutput::textToSpeak, worker, &QGCAudioWorker::say);

src/GAudioOutput.h

@@ -38,20 +38,23 @@ This file is part of the PIXHAWK project
 #include <QStringList>
 
 #include "QGCAudioWorker.h"
-#include "QGCSingleton.h"
+#include "QGCToolbox.h"
+
+class QGCApplication;
 
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
  * This class follows the singleton design pattern
  * @see http://en.wikipedia.org/wiki/Singleton_pattern
  */
-class GAudioOutput : public QGCSingleton
+class GAudioOutput : public QGCTool
 {
     Q_OBJECT
 
-    DECLARE_QGC_SINGLETON(GAudioOutput, GAudioOutput)
-
 public:
+    GAudioOutput(QGCApplication* app);
+    ~GAudioOutput();
+
     /** @brief List available voices */
     QStringList listVoices(void);
     enum
@@ -95,9 +98,6 @@ protected:
 #endif
 
 private:
-    GAudioOutput(QObject *parent = NULL);
-    ~GAudioOutput();
-
     static const char* _mutedKey;
 };
 

src/HomePositionManager.cc

@@ -39,27 +39,27 @@
 #define MEAN_EARTH_DIAMETER	12756274.0
 #define UMR	0.017453292519943295769236907684886
 
-IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
-
 const char* HomePositionManager::_settingsGroup =   "HomePositionManager";
 const char* HomePositionManager::_latitudeKey =     "Latitude";
 const char* HomePositionManager::_longitudeKey =    "Longitude";
 const char* HomePositionManager::_altitudeKey =     "Altitude";
 
-HomePositionManager::HomePositionManager(QObject* parent)
-    : QObject(parent)
+HomePositionManager::HomePositionManager(QGCApplication* app)
+    : QGCTool(app)
     , homeLat(47.3769)
     , homeLon(8.549444)
     , homeAlt(470.0)
 {
-    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
-    
-    _loadSettings();
+
 }
 
-HomePositionManager::~HomePositionManager()
+void HomePositionManager::setToolbox(QGCToolbox *toolbox)
 {
+    QGCTool::setToolbox(toolbox);
+
+    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
 
+    _loadSettings();
 }
 
 void HomePositionManager::_storeSettings(void)
@@ -116,7 +116,7 @@ void HomePositionManager::_loadSettings(void)
     settings.endGroup();
     
     if (_homePositions.count() == 0) {
-        _homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0)));
+        _homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0), this));
     }
     
     // Deprecated settings for old editor
@@ -169,7 +169,7 @@ bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, doubl
     bool changed = setHomePosition(lat, lon, alt);
 
     if (changed) {
-        MultiVehicleManager::instance()->setHomePositionForAllVehicles(homeLat, homeLon, homeAlt);
+        qgcApp()->toolbox()->multiVehicleManager()->setHomePositionForAllVehicles(homeLat, homeLon, homeAlt);
     }
 
 	return changed;
@@ -218,9 +218,10 @@ void HomePositionManager::deleteHomePosition(const QString& name)
     _storeSettings();
 }
 
-HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent)
+HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, HomePositionManager* homePositionManager, QObject* parent)
     : QObject(parent)
     , _coordinate(coordinate)
+    , _homePositionManager(homePositionManager)
 {
     setObjectName(name);
 }
@@ -238,7 +239,7 @@ QString HomePosition::name(void)
 void HomePosition::setName(const QString& name)
 {
     setObjectName(name);
-    HomePositionManager::instance()->_storeSettings();
+    _homePositionManager->_storeSettings();
     emit nameChanged(name);
 }
 
@@ -250,6 +251,6 @@ QGeoCoordinate HomePosition::coordinate(void)
 void HomePosition::setCoordinate(const QGeoCoordinate& coordinate)
 {
     _coordinate = coordinate;
-    HomePositionManager::instance()->_storeSettings();
+    _homePositionManager->_storeSettings();
     emit coordinateChanged(coordinate);
 }

src/HomePositionManager.h

@@ -24,17 +24,19 @@ This file is part of the QGROUNDCONTROL project
 #ifndef HomePositionManager_H
 #define HomePositionManager_H
 
-#include "QGCSingleton.h"
 #include "QmlObjectListModel.h"
+#include "QGCToolbox.h"
 
 #include <QGeoCoordinate>
 
+class HomePositionManager;
+
 class HomePosition : public QObject
 {
     Q_OBJECT
     
 public:
-    HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent = NULL);
+    HomePosition(const QString& name, const QGeoCoordinate& coordinate, HomePositionManager* homePositionManager, QObject* parent = NULL);
     ~HomePosition();
     
     Q_PROPERTY(QString          name        READ name           WRITE setName       NOTIFY nameChanged)
@@ -47,22 +49,23 @@ public:
     
     QGeoCoordinate coordinate(void);
     void setCoordinate(const QGeoCoordinate& coordinate);
-    
+
 signals:
     void nameChanged(const QString& name);
     void coordinateChanged(const QGeoCoordinate& coordinate);
     
 private:
-    QGeoCoordinate  _coordinate;
+    QGeoCoordinate          _coordinate;
+    HomePositionManager*    _homePositionManager;
 };
 
-class HomePositionManager : public QObject
+class HomePositionManager : public QGCTool
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(HomePositionManager, HomePositionManager)
-
 public:
+    HomePositionManager(QGCApplication* app);
+
     Q_PROPERTY(QmlObjectListModel* homePositions READ homePositions CONSTANT)
     
     /// If name is not already a home position a new one will be added, otherwise the existing
@@ -78,14 +81,13 @@ public:
     // Should only be called by HomePosition
     void _storeSettings(void);
     
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 private:
-    /// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
-    HomePositionManager(QObject* parent = NULL);
-    ~HomePositionManager();
-    
     void _loadSettings(void);
     
-    QmlObjectListModel  _homePositions;
+    QmlObjectListModel      _homePositions;
     
     static const char* _settingsGroup;
     static const char* _latitudeKey;

src/Joystick/Joystick.cc

@@ -23,7 +23,6 @@
 
 #include "Joystick.h"
 #include "QGC.h"
-#include "MultiVehicleManager.h"
 #include "AutoPilotPlugin.h"
 #include "UAS.h"
 
@@ -52,7 +51,7 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "ThrottleAxis"
 };
 
-Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex)
+Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex, MultiVehicleManager* multiVehicleManager)
 #ifndef __mobile__
     : _sdlIndex(sdlIndex)
     , _exitThread(false)
@@ -68,6 +67,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     , _throttleMode(ThrottleModeCenterZero)
     , _activeVehicle(NULL)
     , _pollingStartedForCalibration(false)
+    , _multiVehicleManager(multiVehicleManager)
 #endif // __mobile__
 {
 #ifdef __mobile__
@@ -520,7 +520,7 @@ void Joystick::startCalibrationMode(CalibrationMode_t mode)
     
     if (!isRunning()) {
         _pollingStartedForCalibration = true;
-        startPolling(MultiVehicleManager::instance()->activeVehicle());
+        startPolling(_multiVehicleManager->activeVehicle());
     }
 }
 

src/Joystick/Joystick.h

@@ -29,6 +29,7 @@
 
 #include "QGCLoggingCategory.h"
 #include "Vehicle.h"
+#include "MultiVehicleManager.h"
 
 Q_DECLARE_LOGGING_CATEGORY(JoystickLog)
 Q_DECLARE_LOGGING_CATEGORY(JoystickValuesLog)
@@ -38,7 +39,7 @@ class Joystick : public QThread
     Q_OBJECT
     
 public:
-    Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex);
+    Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex, MultiVehicleManager* multiVehicleManager);
     ~Joystick();
     
     typedef struct {
@@ -171,6 +172,8 @@ private:
     
     Vehicle*            _activeVehicle;
     bool                _pollingStartedForCalibration;
+
+    MultiVehicleManager*    _multiVehicleManager;
 #endif // __mobile__
     
 private:

src/Joystick/JoystickManager.cc

@@ -22,6 +22,7 @@
  ======================================================================*/
 
 #include "JoystickManager.h"
+#include "QGCApplication.h"
 
 #include <QQmlEngine>
 
@@ -35,58 +36,62 @@
 
 QGC_LOGGING_CATEGORY(JoystickManagerLog, "JoystickManagerLog")
 
-IMPLEMENT_QGC_SINGLETON(JoystickManager, JoystickManager)
-
 const char * JoystickManager::_settingsGroup =              "JoystickManager";
 const char * JoystickManager::_settingsKeyActiveJoystick =  "ActiveJoystick";
 
-JoystickManager::JoystickManager(QObject* parent)
-    : QGCSingleton(parent)
+JoystickManager::JoystickManager(QGCApplication* app)
+    : QGCTool(app)
     , _activeJoystick(NULL)
+    , _multiVehicleManager(NULL)
 {
-    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     
+}
+
+void JoystickManager::setToolbox(QGCToolbox *toolbox)
+{
+   QGCTool::setToolbox(toolbox);
+
+    _multiVehicleManager = _toolbox->multiVehicleManager();
+
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+
 #ifndef __mobile__
     if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
         qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
         return;
     }
-    
+
     // Load available joysticks
-    
+
     qCDebug(JoystickManagerLog) << "Available joysticks";
-    
+
     for (int i=0; i<SDL_NumJoysticks(); i++) {
         QString name = SDL_JoystickName(i);
-        
+
         if (!_name2JoystickMap.contains(name)) {
             int axisCount, buttonCount;
-            
+
             SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
             axisCount = SDL_JoystickNumAxes(sdlJoystick);
             buttonCount = SDL_JoystickNumButtons(sdlJoystick);
             SDL_JoystickClose(sdlJoystick);
 
             qCDebug(JoystickManagerLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount;
-            _name2JoystickMap[name] = new Joystick(name, axisCount, buttonCount, i);
+            _name2JoystickMap[name] = new Joystick(name, axisCount, buttonCount, i, _multiVehicleManager);
         } else {
             qCDebug(JoystickManagerLog) << "\tSkipping duplicate" << name;
         }
     }
 #endif
-    
+
     if (!_name2JoystickMap.count()) {
         qCDebug(JoystickManagerLog) << "\tnone found";
         return;
     }
-    
+
     _setActiveJoystickFromSettings();
 }
 
-JoystickManager::~JoystickManager()
-{
-
-}
 
 void JoystickManager::_setActiveJoystickFromSettings(void)
 {

src/Joystick/JoystickManager.h

@@ -24,21 +24,24 @@
 #ifndef JoystickManager_H
 #define JoystickManager_H
 
-#include "QGCSingleton.h"
 #include "QGCLoggingCategory.h"
 #include "Joystick.h"
+#include "MultiVehicleManager.h"
+#include "QGCToolbox.h"
 
 #include <QVariantList>
 
 Q_DECLARE_LOGGING_CATEGORY(JoystickManagerLog)
 
-class JoystickManager : public QGCSingleton
+class QGCApplicaiton;
+
+class JoystickManager : public QGCTool
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(JoystickManager, JoystickManager)
-
 public:
+    JoystickManager(QGCApplication* app);
+
     /// List of available joysticks
     Q_PROPERTY(QVariantList joysticks READ joysticks CONSTANT)
     Q_PROPERTY(QStringList  joystickNames READ joystickNames CONSTANT)
@@ -56,6 +59,9 @@ public:
     QString activeJoystickName(void);
     void setActiveJoystickName(const QString& name);
 
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 signals:
     void activeJoystickChanged(Joystick* joystick);
     void activeJoystickNameChanged(const QString& name);
@@ -63,16 +69,12 @@ signals:
 private slots:
     
 private:
-    /// All access to singleton is through JoystickManager::instance
-    JoystickManager(QObject* parent = NULL);
-    ~JoystickManager();
-    
     void _setActiveJoystickFromSettings(void);
     
 private:
-    Joystick*   _activeJoystick;
-    
+    Joystick*                   _activeJoystick;
     QMap<QString, Joystick*>    _name2JoystickMap;
+    MultiVehicleManager*        _multiVehicleManager;
     
     static const char * _settingsGroup;
     static const char * _settingsKeyActiveJoystick;

src/MissionManager/MissionController.cc

@@ -62,7 +62,7 @@ void MissionController::start(bool editMode)
 
     _editMode = editMode;
 
-    MultiVehicleManager* multiVehicleMgr = MultiVehicleManager::instance();
+    MultiVehicleManager* multiVehicleMgr = qgcApp()->toolbox()->multiVehicleManager();
 
     connect(multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &MissionController::_activeVehicleChanged);
 
@@ -143,7 +143,7 @@ void MissionController::_setupMissionItems(bool loadFromVehicle, bool forceLoad)
 
 void MissionController::getMissionItems(void)
 {
-    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
 
     if (activeVehicle) {
         _missionItemsRequested = true;
@@ -153,7 +153,7 @@ void MissionController::getMissionItems(void)
 
 void MissionController::sendMissionItems(void)
 {
-    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+    Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
 
     if (activeVehicle) {
         activeVehicle->missionManager()->writeMissionItems(*_missionItems);
@@ -576,7 +576,7 @@ void MissionController::setAutoSync(bool autoSync)
 void MissionController::_dirtyChanged(bool dirty)
 {
     if (dirty && _autoSync) {
-        Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
+        Vehicle* activeVehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
 
         if (activeVehicle && !activeVehicle->armed()) {
             if (_activeVehicle->missionManager()->inProgress()) {

src/MissionManager/MissionControllerManagerTest.cc

@@ -24,9 +24,9 @@
 #include "MissionControllerManagerTest.h"
 #include "LinkManager.h"
 #include "MultiVehicleManager.h"
+#include "QGCApplication.h"
 
 MissionControllerManagerTest::MissionControllerManagerTest(void)
-    : _mockLink(NULL)
 {
     
 }
@@ -36,33 +36,16 @@ void MissionControllerManagerTest::cleanup(void)
     delete _multiSpyMissionManager;
     _multiSpyMissionManager = NULL;
 
-    LinkManager::instance()->disconnectLink(_mockLink);
-    _mockLink = NULL;
-    QTest::qWait(1000); // Need to allow signals to move between threads
-
     UnitTest::cleanup();
 }
 
 void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType)
 {
-    LinkManager* linkMgr = LinkManager::instance();
-    Q_CHECK_PTR(linkMgr);
-    
-    _mockLink = new MockLink();
-    Q_CHECK_PTR(_mockLink);
-    _mockLink->setFirmwareType(firmwareType);
-    LinkManager::instance()->_addLink(_mockLink);
-    
-    linkMgr->connectLink(_mockLink);
-    
-    // Wait for the Vehicle to work it's way through the various threads
-    
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
-    QCOMPARE(spyVehicle.wait(5000), true);
+    _connectMockLink(firmwareType);
     
     // Wait for the Mission Manager to finish it's initial load
     
-    _missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager();
+    _missionManager = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->missionManager();
     QVERIFY(_missionManager);
     
     _rgMissionManagerSignals[canEditChangedSignalIndex] =             SIGNAL(canEditChanged(bool));

src/MissionManager/MissionControllerManagerTest.h

@@ -46,7 +46,6 @@ protected:
     void _initForFirmwareType(MAV_AUTOPILOT firmwareType);
     void _checkInProgressValues(bool inProgress);
     
-    MockLink*       _mockLink;
     MissionManager* _missionManager;
     
     typedef struct {

src/MissionManager/MissionManager.cc

@@ -28,6 +28,7 @@
 #include "Vehicle.h"
 #include "FirmwarePlugin.h"
 #include "MAVLinkProtocol.h"
+#include "QGCApplication.h"
 
 QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
 
@@ -92,7 +93,7 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
     missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
     missionCount.count = _missionItems.count();
     
-    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
+    mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionRequest);
@@ -112,7 +113,7 @@ void MissionManager::_retryWrite(void)
     missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
     missionCount.count = _missionItems.count();
     
-    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
+    mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionRequest);
@@ -131,7 +132,7 @@ void MissionManager::requestMissionItems(void)
     request.target_system = _vehicle->id();
     request.target_component = MAV_COMP_ID_MISSIONPLANNER;
     
-    mavlink_msg_mission_request_list_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &request);
+    mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionCount);
@@ -150,7 +151,7 @@ void MissionManager::_retryRead(void)
     request.target_system = _vehicle->id();
     request.target_component = MAV_COMP_ID_MISSIONPLANNER;
     
-    mavlink_msg_mission_request_list_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &request);
+    mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionCount);
@@ -214,7 +215,7 @@ void MissionManager::_readTransactionComplete(void)
     missionAck.target_component =   MAV_COMP_ID_MISSIONPLANNER;
     missionAck.type =               MAV_MISSION_ACCEPTED;
     
-    mavlink_msg_mission_ack_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionAck);
+    mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck);
     
     _vehicle->sendMessage(message);
     
@@ -260,7 +261,7 @@ void MissionManager::_requestNextMissionItem(int sequenceNumber)
     missionRequest.seq =                sequenceNumber;
     _expectedSequenceNumber =           sequenceNumber;
     
-    mavlink_msg_mission_request_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionRequest);
+    mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest);
     
     _vehicle->sendMessage(message);
     _startAckTimeout(AckMissionItem);
@@ -361,7 +362,7 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
     missionItem.current =           missionRequest.seq == 0;
     missionItem.autocontinue =      item->autoContinue();
     
-    mavlink_msg_mission_item_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &messageOut, &missionItem);
+    mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
     
     _vehicle->sendMessage(messageOut);
     _startAckTimeout(AckMissionRequest);

src/QGCApplication.cc

@@ -137,7 +137,7 @@ static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
 
 static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
 {
-    return new QGroundControlQmlGlobal;
+    return new QGroundControlQmlGlobal(qgcApp()->toolbox());
 }
 
 #if defined(QGC_GST_STREAMING)
@@ -172,6 +172,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
 #ifdef QT_DEBUG
     , _testHighDPI(false)
 #endif
+    , _toolbox(NULL)
 {
     Q_ASSERT(_app == NULL);
     _app = this;
@@ -315,12 +316,15 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
 
     // Initialize Video Streaming
     initializeVideoStreaming(argc, argv);
+
+    _toolbox = new QGCToolbox(this);
 }
 
 QGCApplication::~QGCApplication()
 {
     _destroySingletons();
     shutdownVideoStreaming();
+    delete _toolbox;
 }
 
 void QGCApplication::_initCommon(void)
@@ -458,12 +462,12 @@ bool QGCApplication::_initForNormalAppBoot(void)
 
 #ifndef __mobile__
     // Now that main window is up check for lost log files
-    connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();
 #endif
 
     // Load known link configurations
-    LinkManager::instance()->loadLinkConfigurationList();
+    toolbox()->linkManager()->loadLinkConfigurationList();
 
     return true;
 }
@@ -574,18 +578,6 @@ QGCApplication* qgcApp(void)
 ///         up being creating on something other than the main thread.
 void QGCApplication::_createSingletons(void)
 {
-    // The order here is important since the singletons reference each other
-
-    // No dependencies
-    FlightMapSettings* flightMapSettings = FlightMapSettings::_createSingleton();
-    Q_UNUSED(flightMapSettings);
-    Q_ASSERT(flightMapSettings);
-
-    // No dependencies
-    HomePositionManager* homePositionManager = HomePositionManager::_createSingleton();
-    Q_UNUSED(homePositionManager);
-    Q_ASSERT(homePositionManager);
-
     // No dependencies
     FirmwarePlugin* firmwarePlugin = GenericFirmwarePlugin::_createSingleton();
     Q_UNUSED(firmwarePlugin);
@@ -596,52 +588,6 @@ void QGCApplication::_createSingletons(void)
     firmwarePlugin = ArduCopterFirmwarePlugin::_createSingleton();
     firmwarePlugin = ArduPlaneFirmwarePlugin::_createSingleton();
     firmwarePlugin = ArduRoverFirmwarePlugin::_createSingleton();
-
-    // No dependencies
-    FirmwarePluginManager* firmwarePluginManager = FirmwarePluginManager::_createSingleton();
-    Q_UNUSED(firmwarePluginManager);
-    Q_ASSERT(firmwarePluginManager);
-
-    // No dependencies
-    MultiVehicleManager* multiVehicleManager = MultiVehicleManager::_createSingleton();
-    Q_UNUSED(multiVehicleManager);
-    Q_ASSERT(multiVehicleManager);
-
-    // No dependencies
-    JoystickManager* joystickManager = JoystickManager::_createSingleton();
-    Q_UNUSED(joystickManager);
-    Q_ASSERT(joystickManager);
-
-    // No dependencies
-    GAudioOutput* audio = GAudioOutput::_createSingleton();
-    Q_UNUSED(audio);
-    Q_ASSERT(audio);
-
-    // No dependencies
-    LinkManager* linkManager = LinkManager::_createSingleton();
-    Q_UNUSED(linkManager);
-    Q_ASSERT(linkManager);
-
-    // Need MultiVehicleManager
-    AutoPilotPluginManager* pluginManager = AutoPilotPluginManager::_createSingleton();
-    Q_UNUSED(pluginManager);
-    Q_ASSERT(pluginManager);
-
-    // Need MultiVehicleManager
-    UASMessageHandler* messageHandler = UASMessageHandler::_createSingleton();
-    Q_UNUSED(messageHandler);
-    Q_ASSERT(messageHandler);
-
-    // Needs MultiVehicleManager
-    FactSystem* factSystem = FactSystem::_createSingleton();
-    Q_UNUSED(factSystem);
-    Q_ASSERT(factSystem);
-
-    // Needs everything!
-    MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
-    Q_UNUSED(mavlink);
-    Q_ASSERT(mavlink);
-
 }
 
 void QGCApplication::_destroySingletons(void)
@@ -651,32 +597,11 @@ void QGCApplication::_destroySingletons(void)
         delete mainWindow;
     }
 
-    if (LinkManager::instance(true /* nullOk */)) {
-        // This will close/delete all connections
-        LinkManager::instance()->_shutdown();
-    }
-
-    // Let the signals flow through the main thread
-    processEvents(QEventLoop::ExcludeUserInputEvents);
-
-    // Take down singletons in reverse order of creation
-
-    MAVLinkProtocol::_deleteSingleton();
-    FactSystem::_deleteSingleton();
-    UASMessageHandler::_deleteSingleton();
-    AutoPilotPluginManager::_deleteSingleton();
-    LinkManager::_deleteSingleton();
-    GAudioOutput::_deleteSingleton();
-    JoystickManager::_deleteSingleton();
-    MultiVehicleManager::_deleteSingleton();
-    FirmwarePluginManager::_deleteSingleton();
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();
     ArduCopterFirmwarePlugin::_deleteSingleton();
     ArduPlaneFirmwarePlugin::_deleteSingleton();
     ArduRoverFirmwarePlugin::_deleteSingleton();
-    HomePositionManager::_deleteSingleton();
-    FlightMapSettings::_deleteSingleton();
 }
 
 void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)

src/QGCApplication.h

@@ -36,6 +36,17 @@
 #include <QTimer>
 
 #include "LinkConfiguration.h"
+#include "LinkManager.h"
+#include "MAVLinkProtocol.h"
+#include "FlightMapSettings.h"
+#include "HomePositionManager.h"
+#include "FirmwarePluginManager.h"
+#include "MultiVehicleManager.h"
+#include "JoystickManager.h"
+#include "GAudioOutput.h"
+#include "AutoPilotPluginManager.h"
+#include "UASMessageHandler.h"
+#include "FactSystem.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -44,6 +55,7 @@
 // Work around circular header includes
 class QGCSingleton;
 class MainWindow;
+class QGCToolbox;
 
 /**
  * @brief The main application and management class.
@@ -109,6 +121,9 @@ public:
 #ifdef QT_DEBUG
     bool testHighDPI(void) { return _testHighDPI; }
 #endif
+
+    // Still working on getting rid of this and using dependency injection instead for everything
+    QGCToolbox* toolbox(void) { return _toolbox; }
     
 public slots:
     /// You can connect to this slot to show an information message box from a different thread.
@@ -122,7 +137,7 @@ public slots:
     
     /// Save the specified Flight Data Log
     void saveTempFlightDataLogOnMainThread(QString tempLogfile);
-    
+
 signals:
     /// Signals that the style has changed
     ///     @param darkStyle true: dark style, false: light style
@@ -166,7 +181,7 @@ private:
     static const char* _defaultSavedFileDirectoryName;      ///< Default name for user visible save file directory
     static const char* _savedFileMavlinkLogDirectoryName;   ///< Name of mavlink log subdirectory
     static const char* _savedFileParameterDirectoryName;    ///< Name of parameter subdirectory
-    
+
     bool _runningUnitTests; ///< true: running unit tests, false: normal app
     
     static const char*  _darkStyleFile;
@@ -183,6 +198,8 @@ private:
     bool _testHighDPI;  ///< true: double fonts sizes for simulating high dpi devices
 #endif
 
+    QGCToolbox* _toolbox;
+
     /// Unit Test have access to creating and destroying singletons
     friend class UnitTest;
 };

src/QGCQuickWidget.cc

@@ -40,8 +40,8 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     QQuickWidget(parent)
 {
     rootContext()->engine()->addImportPath("qrc:/qml");
-    rootContext()->setContextProperty("multiVehicleManager", MultiVehicleManager::instance());
-    rootContext()->setContextProperty("joystickManager", JoystickManager::instance());
+    rootContext()->setContextProperty("multiVehicleManager", qgcApp()->toolbox()->multiVehicleManager());
+    rootContext()->setContextProperty("joystickManager", qgcApp()->toolbox()->joystickManager());
 }
 
 void QGCQuickWidget::setAutoPilot(AutoPilotPlugin* autoPilot)

src/QGCSingleton.cc

@@ -29,8 +29,3 @@
 #include "QGCSingleton.h"
 #include "QGCApplication.h"
 
-QGCSingleton::QGCSingleton(QObject* parent) :
-    QObject(parent)
-{
-
-}

src/QGCSingleton.h

@@ -27,8 +27,6 @@
 #ifndef QGCSINGLETON_H
 #define QGCSINGLETON_H
 
-#include "QGCApplication.h"
-
 #include <QObject>
 #include <QMutex>
 
@@ -40,14 +38,12 @@
     public: \
         static interfaceName* instance(bool nullOk = false); \
         static void setMockInstance(interfaceName* mock); \
-    private: \
         static interfaceName* _createSingleton(void); \
         static void _deleteSingleton(void); \
+    private: \
         static interfaceName* _instance; \
         static interfaceName* _mockInstance; \
         static interfaceName* _realInstance; \
-        friend class QGCApplication; \
-        friend class UnitTest; \
 
 /// @def IMPLEMENT_QGC_SINGLETON
 /// Include this macro in your Derived Class implementation
@@ -61,7 +57,7 @@
     interfaceName* className::_createSingleton(void) \
     { \
         Q_ASSERT(_instance == NULL); \
-        _instance = new className(qgcApp()); \
+        _instance = new className; \
         return _instance; \
     } \
     \
@@ -151,10 +147,6 @@ class QGCSingleton : public QObject
 {
     Q_OBJECT
     
-protected:
-    /// Constructor is private since all creation is done through _createInstance
-    ///     @param parent Parent object
-    QGCSingleton(QObject* parent = NULL);
 };
 
 #endif

src/QGCToolbox.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 "LinkManager.h"
+#include "MAVLinkProtocol.h"
+#include "FlightMapSettings.h"
+#include "HomePositionManager.h"
+#include "FirmwarePluginManager.h"
+#include "MultiVehicleManager.h"
+#include "JoystickManager.h"
+#include "GAudioOutput.h"
+#include "AutoPilotPluginManager.h"
+#include "UASMessageHandler.h"
+#include "FactSystem.h"
+
+QGCToolbox::QGCToolbox(QGCApplication* app)
+    : _firmwarePluginManager(NULL)
+    , _autopilotPluginManager(NULL)
+    , _linkManager(NULL)
+    , _multiVehicleManager(NULL)
+    , _mavlinkProtocol(NULL)
+    , _flightMapSettings(NULL)
+    , _homePositionManager(NULL)
+    , _joystickManager(NULL)
+    , _audioOutput(NULL)
+    , _uasMessageHandler(NULL)
+    , _factSystem(NULL)
+{
+    _firmwarePluginManager =    new FirmwarePluginManager(app);
+    _autopilotPluginManager =   new AutoPilotPluginManager(app);
+    _flightMapSettings =        new FlightMapSettings(app);
+    _homePositionManager =      new HomePositionManager(app);
+    _factSystem =               new FactSystem(app);
+    _linkManager =              new LinkManager(app);
+    _multiVehicleManager =      new MultiVehicleManager(app);
+    _mavlinkProtocol =          new MAVLinkProtocol(app);
+    _joystickManager =          new JoystickManager(app);
+    _audioOutput =              new GAudioOutput(app);
+    _uasMessageHandler =        new UASMessageHandler(app);
+
+    _firmwarePluginManager->setToolbox(this);
+    _autopilotPluginManager->setToolbox(this);
+    _flightMapSettings->setToolbox(this);
+    _homePositionManager->setToolbox(this);
+    _factSystem->setToolbox(this);
+    _linkManager->setToolbox(this);
+    _multiVehicleManager->setToolbox(this);
+    _mavlinkProtocol->setToolbox(this);
+    _joystickManager->setToolbox(this);
+    _audioOutput->setToolbox(this);
+    _uasMessageHandler->setToolbox(this);
+}
+
+QGCToolbox::~QGCToolbox()
+{
+    delete _firmwarePluginManager;
+    delete _autopilotPluginManager;
+    delete _linkManager;
+    delete _multiVehicleManager;
+    delete _mavlinkProtocol;
+    delete _flightMapSettings;
+    delete _homePositionManager;
+    delete _joystickManager;
+    delete _audioOutput;
+    delete _uasMessageHandler;
+    delete _factSystem;
+}
+
+QGCTool::QGCTool(QGCApplication* app)
+    : QObject((QObject*)app)
+    , _app(app)
+    , _toolbox(NULL)
+{
+
+}
+
+void QGCTool::setToolbox(QGCToolbox* toolbox)
+{
+    _toolbox = toolbox;
+}

src/QGCToolbox.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 QGCToolbox_h
+#define QGCToolbox_h
+
+#include <QObject>
+
+class QGCApplication;
+class LinkManager;
+class MAVLinkProtocol;
+class MultiVehicleManager;
+class JoystickManager;
+class UASMessageHandler;
+class HomePositionManager;
+class FlightMapSettings;
+class GAudioOutput;
+class FirmwarePluginManager;
+class AutoPilotPluginManager;
+class FactSystem;
+
+/// This is used to manage all of our top level services/tools
+class QGCToolbox {
+
+public:
+    QGCToolbox(QGCApplication* app);
+    ~QGCToolbox();
+
+    LinkManager*            linkManager(void)               { return _linkManager; }
+    MAVLinkProtocol*        mavlinkProtocol(void)           { return _mavlinkProtocol; }
+    MultiVehicleManager*    multiVehicleManager(void)       { return _multiVehicleManager; }
+    JoystickManager*        joystickManager(void)           { return _joystickManager; }
+    UASMessageHandler*      uasMessageHandler(void)         { return _uasMessageHandler; }
+    HomePositionManager*    homePositionManager(void)       { return _homePositionManager; }
+    FlightMapSettings*      flightMapSettings(void)         { return _flightMapSettings; }
+    GAudioOutput*           audioOutput(void)               { return _audioOutput; }
+    FirmwarePluginManager*  firmwarePluginManager(void)     { return _firmwarePluginManager; }
+    AutoPilotPluginManager* autopilotPluginManager(void)    { return _autopilotPluginManager; }
+
+private:
+    FirmwarePluginManager*  _firmwarePluginManager;
+    AutoPilotPluginManager* _autopilotPluginManager;
+    LinkManager*            _linkManager;
+    MultiVehicleManager*    _multiVehicleManager;
+    MAVLinkProtocol*        _mavlinkProtocol;
+    FlightMapSettings*      _flightMapSettings;
+    HomePositionManager*    _homePositionManager;
+    JoystickManager*        _joystickManager;
+    GAudioOutput*           _audioOutput;
+    UASMessageHandler*      _uasMessageHandler;
+    FactSystem*             _factSystem;
+};
+
+/// This is the base class for all tools
+class QGCTool : public QObject {
+    Q_OBJECT
+
+public:
+    // All tools are parented to QGCAppliation and go through a two phase creation. First all tools are newed,
+    // and then setToolbox is called on all tools. The prevents creating an circular dependencies at constructor
+    // time.
+    QGCTool(QGCApplication* app);
+
+    virtual void setToolbox(QGCToolbox* toolbox);
+
+protected:
+    QGCApplication* _app;
+    QGCToolbox*     _toolbox;
+};
+
+#endif

src/QmlControls/ParameterEditorController.cc

@@ -158,6 +158,6 @@ void ParameterEditorController::resetAllToDefaults(void)
 void ParameterEditorController::setRCToParam(const QString& paramName)
 {
 	Q_ASSERT(_uas);
-	QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, MainWindow::instance());
+    QGCMapRCToParamDialog * d = new QGCMapRCToParamDialog(paramName, _uas, qgcApp()->toolbox()->multiVehicleManager(), MainWindow::instance());
 	d->exec();
 }

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -25,18 +25,16 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "QGroundControlQmlGlobal.h"
+#include "QGCApplication.h"
+
+#include <QSettings>
 
 static const char* kQmlGlobalKeyName = "QGCQml";
 
-QGroundControlQmlGlobal::QGroundControlQmlGlobal(QObject* parent)
+QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
     : QObject(parent)
-    , _homePositionManager(HomePositionManager::instance())
-    , _flightMapSettings(FlightMapSettings::instance())
-{
-
-}
-
-QGroundControlQmlGlobal::~QGroundControlQmlGlobal()
+    , _homePositionManager(toolbox->homePositionManager())
+    , _flightMapSettings(toolbox->flightMapSettings())
 {
 
 }

src/QmlControls/QGroundControlQmlGlobal.h

@@ -32,13 +32,14 @@
 #include "HomePositionManager.h"
 #include "FlightMapSettings.h"
 
+class QGCToolbox;
+
 class QGroundControlQmlGlobal : public QObject
 {
     Q_OBJECT
 
 public:
-    QGroundControlQmlGlobal(QObject* parent = NULL);
-    ~QGroundControlQmlGlobal();
+    QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
 
     Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager    CONSTANT)
     Q_PROPERTY(FlightMapSettings*   flightMapSettings   READ flightMapSettings      CONSTANT)

src/Vehicle/MultiVehicleManager.cc

@@ -28,42 +28,52 @@
 #include "AutoPilotPlugin.h"
 #include "MAVLinkProtocol.h"
 #include "UAS.h"
+#include "QGCApplication.h"
 
-IMPLEMENT_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
-
-MultiVehicleManager::MultiVehicleManager(QObject* parent) :
-    QGCSingleton(parent)
+MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
+    : QGCTool(app)
     , _activeVehicleAvailable(false)
     , _parameterReadyVehicleAvailable(false)
     , _activeVehicle(NULL)
+    , _firmwarePluginManager(NULL)
+    , _autopilotPluginManager(NULL)
+    , _joystickManager(NULL)
+    , _mavlinkProtocol(NULL)
 {
-    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
-    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
+
 }
 
-MultiVehicleManager::~MultiVehicleManager()
+void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 {
+   QGCTool::setToolbox(toolbox);
+
+   _firmwarePluginManager =     _toolbox->firmwarePluginManager();
+   _autopilotPluginManager =    _toolbox->autopilotPluginManager();
+   _joystickManager =           _toolbox->joystickManager();
+   _mavlinkProtocol =           _toolbox->mavlinkProtocol();
 
+   QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+   qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
 }
 
 bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
 {
     if (!getVehicleById(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
-        if (vehicleId == MAVLinkProtocol::instance()->getSystemId()) {
-            qgcApp()->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
+        if (vehicleId == _mavlinkProtocol->getSystemId()) {
+            _app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
         }
         
         QSettings settings;
         bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
         if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
             _ignoreVehicleIds += vehicleId;
-            qgcApp()->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
+            _app->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
                                                  "It is unsafe to use different MAVLink versions. "
                                                  "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
             return false;
         }
         
-        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type);
+        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
         
         if (!vehicle) {
             qWarning() << "New Vehicle allocation failed";

src/Vehicle/MultiVehicleManager.h

@@ -27,18 +27,24 @@
 #ifndef MultiVehicleManager_H
 #define MultiVehicleManager_H
 
-#include "QGCSingleton.h"
 #include "Vehicle.h"
 #include "QGCMAVLink.h"
 #include "QmlObjectListModel.h"
+#include "QGCToolbox.h"
 
-class MultiVehicleManager : public QGCSingleton
+class FirmwarePluginManager;
+class AutoPilotPluginManager;
+class JoystickManager;
+class QGCApplication;
+class MAVLinkProtocol;
+
+class MultiVehicleManager : public QGCTool
 {
     Q_OBJECT
     
-    DECLARE_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
-
 public:
+    MultiVehicleManager(QGCApplication* app);
+
     Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
     Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);
     
@@ -76,6 +82,9 @@ public:
     
     QmlObjectListModel* vehiclesModel(void) { return &_vehicles; }
     
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 signals:
     void vehicleAdded(Vehicle* vehicle);
     void vehicleRemoved(Vehicle* vehicle);
@@ -92,10 +101,6 @@ private slots:
     void _autopilotParametersReadyChanged(bool parametersReady);
     
 private:
-    /// All access to singleton is through MultiVehicleManager::instance
-    MultiVehicleManager(QObject* parent = NULL);
-    ~MultiVehicleManager();
-    
     bool _vehicleExists(int vehicleId);
     
     bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
@@ -108,6 +113,11 @@ private:
     QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
     
     QmlObjectListModel  _vehicles;
+
+    FirmwarePluginManager*  _firmwarePluginManager;
+    AutoPilotPluginManager* _autopilotPluginManager;
+    JoystickManager*        _joystickManager;
+    MAVLinkProtocol*        _mavlinkProtocol;
 };
 
 #endif

src/Vehicle/Vehicle.cc

@@ -33,6 +33,7 @@
 #include "MissionManager.h"
 #include "CoordinateVector.h"
 #include "ParameterLoader.h"
+#include "QGCApplication.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -45,7 +46,13 @@ const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
 const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";
 const char* Vehicle::_communicationInactivityKey =  "CommunicationInactivity";
 
-Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
+Vehicle::Vehicle(LinkInterface*             link,
+                 int                        vehicleId,
+                 MAV_AUTOPILOT              firmwareType,
+                 MAV_TYPE                   vehicleType,
+                 FirmwarePluginManager*     firmwarePluginManager,
+                 AutoPilotPluginManager*    autopilotPluginManager,
+                 JoystickManager*           joystickManager)
     : _id(vehicleId)
     , _active(false)
     , _firmwareType(firmwareType)
@@ -96,15 +103,18 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     , _custom_mode(0)
     , _nextSendMessageMultipleIndex(0)
     , _communicationInactivityTimeoutMSecs(_communicationInactivityTimeoutMSecsDefault)
+    , _firmwarePluginManager(firmwarePluginManager)
+    , _autopilotPluginManager(autopilotPluginManager)
+    , _joystickManager(joystickManager)
 {
     _addLink(link);
     
-    _mavlink = MAVLinkProtocol::instance();
+    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     
     connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
     connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
     
-    _uas = new UAS(_mavlink, this);
+    _uas = new UAS(_mavlink, this, _firmwarePluginManager);
     
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
@@ -112,8 +122,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
     connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
     
-    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
-    _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
+    _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
+    _autopilotPlugin = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
     
     connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
     connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);
@@ -132,7 +142,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     _currentHeartbeatTimeout = 0;
     emit heartbeatTimeoutChanged();
     // Listen for system messages
-    connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
+    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
     // Now connect the new UAS
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
@@ -178,9 +188,14 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
 
 Vehicle::~Vehicle()
 {
+    qDebug() << "~Vehicle";
+
     delete _missionManager;
     _missionManager = NULL;
 
+    delete _autopilotPlugin;
+    _autopilotPlugin = NULL;
+
     delete _mav;
     _mav = NULL;
 }
@@ -285,9 +300,9 @@ bool Vehicle::_containsLink(LinkInterface* link)
 void Vehicle::_addLink(LinkInterface* link)
 {
     if (!_containsLink(link)) {
-        _links += LinkManager::instance()->sharedPointerForLink(link);
+        _links += qgcApp()->toolbox()->linkManager()->sharedPointerForLink(link);
         qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
-        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
+        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
     }
 }
 
@@ -790,7 +805,7 @@ void Vehicle::_handleTextMessage(int newCount)
         return;
     }
     
-    UASMessageHandler* pMh = UASMessageHandler::instance();
+    UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
     Q_ASSERT(pMh);
     MessageType_t type = newCount ? _currentMessageType : MessageNone;
     int errorCount     = _currentErrorCount;
@@ -941,7 +956,7 @@ void Vehicle::setJoystickEnabled(bool enabled)
 void Vehicle::_startJoystick(bool start)
 {
 #ifndef __mobile__
-    Joystick* joystick = JoystickManager::instance()->activeJoystick();
+    Joystick* joystick = _joystickManager->activeJoystick();
     if (joystick) {
         if (start) {
             if (_joystickEnabled) {
@@ -1149,7 +1164,7 @@ void Vehicle::_communicationInactivityTimedOut(void)
 {
     // Vechile is no longer communicating with us, disconnect all links
 
-    LinkManager* linkMgr = LinkManager::instance();
+    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
     for (int i=0; i<_links.count(); i++) {
         linkMgr->disconnectLink(_links[i].data());
     }

src/Vehicle/Vehicle.h

@@ -40,9 +40,12 @@
 class UAS;
 class UASInterface;
 class FirmwarePlugin;
+class FirmwarePluginManager;
 class AutoPilotPlugin;
+class AutoPilotPluginManager;
 class MissionManager;
 class ParameterLoader;
+class JoystickManager;
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -51,7 +54,13 @@ class Vehicle : public QObject
     Q_OBJECT
     
 public:
-    Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
+    Vehicle(LinkInterface*          link,
+            int                     vehicleId,
+            MAV_AUTOPILOT           firmwareType,
+            MAV_TYPE                vehicleType,
+            FirmwarePluginManager*  firmwarePluginManager,
+            AutoPilotPluginManager* autopilotPluginManager,
+            JoystickManager*        joystickManager);
     ~Vehicle();
     
     Q_PROPERTY(int id READ id CONSTANT)
@@ -444,6 +453,10 @@ private:
     QTimer              _communicationInactivityTimer;
     int                 _communicationInactivityTimeoutMSecs;
     static const int    _communicationInactivityTimeoutMSecsDefault = 30 * 1000;
+
+    FirmwarePluginManager*  _firmwarePluginManager;
+    AutoPilotPluginManager* _autopilotPluginManager;
+    JoystickManager*        _joystickManager;
     
     // Settings keys
     static const char* _settingsGroup;

src/VehicleSetup/FirmwareUpgradeController.cc

@@ -68,7 +68,7 @@ FirmwareUpgradeController::FirmwareUpgradeController(void) :
     connect(_threadController, &PX4FirmwareUpgradeThreadController::flashComplete,          this, &FirmwareUpgradeController::_flashComplete);
     connect(_threadController, &PX4FirmwareUpgradeThreadController::updateProgress,         this, &FirmwareUpgradeController::_updateProgress);
     
-    connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &FirmwareUpgradeController::_linkDisconnected);
+    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &FirmwareUpgradeController::_linkDisconnected);
 
     connect(&_eraseTimer, &QTimer::timeout, this, &FirmwareUpgradeController::_eraseProgressTick);
 }
@@ -558,7 +558,7 @@ void FirmwareUpgradeController::_appendStatusLog(const QString& text, bool criti
 
 bool FirmwareUpgradeController::qgcConnections(void)
 {
-    return LinkManager::instance()->anyConnectedLinks();
+    return qgcApp()->toolbox()->linkManager()->anyConnectedLinks();
 }
 
 void FirmwareUpgradeController::_linkDisconnected(LinkInterface* link)

src/VehicleSetup/JoystickConfigController.cc

@@ -24,6 +24,7 @@
 #include "JoystickConfigController.h"
 #include "JoystickManager.h"
 #include "QGCMessageBox.h"
+#include "QGCApplication.h"
 
 #include <QSettings>
 
@@ -66,12 +67,12 @@ JoystickConfigController::JoystickConfigController(void)
     , _cancelButton(NULL)
     , _nextButton(NULL)
     , _skipButton(NULL)
+    , _joystickManager(qgcApp()->toolbox()->joystickManager())
 {
-    JoystickManager* joystickManager = JoystickManager::instance();
     
-    connect(joystickManager, &JoystickManager::activeJoystickChanged, this, &JoystickConfigController::_activeJoystickChanged);
+    connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &JoystickConfigController::_activeJoystickChanged);
     
-    _activeJoystickChanged(joystickManager->activeJoystick());
+    _activeJoystickChanged(_joystickManager->activeJoystick());
     _resetInternalCalibrationValues();
 }
 
@@ -454,7 +455,7 @@ void JoystickConfigController::_resetInternalCalibrationValues(void)
 /// @brief Sets internal calibration values from the stored settings
 void JoystickConfigController::_setInternalCalibrationValuesFromSettings(void)
 {
-    Joystick* joystick = JoystickManager::instance()->activeJoystick();
+    Joystick* joystick = _joystickManager->activeJoystick();
     
     // Initialize all function mappings to not set
     
@@ -539,7 +540,7 @@ void JoystickConfigController::_validateCalibration(void)
 /// @brief Saves the rc calibration values to the board parameters.
 void JoystickConfigController::_writeCalibration(void)
 {
-    Joystick* joystick = JoystickManager::instance()->activeJoystick();
+    Joystick* joystick = _joystickManager->activeJoystick();
 
     _validateCalibration();
     

src/VehicleSetup/JoystickConfigController.h

@@ -38,6 +38,7 @@
 Q_DECLARE_LOGGING_CATEGORY(JoystickConfigControllerLog)
 
 class RadioConfigest;
+class JoystickManager;
 
 namespace Ui {
     class JoystickConfigController;
@@ -253,6 +254,8 @@ private:
     QQuickItem* _skipButton;
     
     QString _imageHelp;
+
+    JoystickManager*    _joystickManager;
 };
 
 #endif // JoystickConfigController_H

src/VehicleSetup/SetupViewTest.cc

@@ -31,50 +31,14 @@
 
 UT_REGISTER_TEST(SetupViewTest)
 
-SetupViewTest::SetupViewTest(void) :
-    _mainWindow(NULL)
-{
-    
-}
-
-void SetupViewTest::init(void)
-{
-    UnitTest::init();
-
-    _mainWindow = MainWindow::_create();
-    Q_CHECK_PTR(_mainWindow);
-}
-
-void SetupViewTest::cleanup(void)
-{
-    _mainWindow->close();
-    delete _mainWindow;
-    
-    UnitTest::cleanup();
-}
-
 void SetupViewTest::_clickThrough_test(void)
 {
-    LinkManager* linkMgr = LinkManager::instance();
-    Q_CHECK_PTR(linkMgr);
+    _connectMockLink();
     
-    MockLink* link = new MockLink();
-    Q_CHECK_PTR(link);
-    link->setFirmwareType(MAV_AUTOPILOT_PX4);
-    LinkManager::instance()->_addLink(link);
-    linkMgr->connectLink(link);
-    
-    // Wait for the Vehicle to get created
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
-    QCOMPARE(spyVehicle.wait(5000), true);
-    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
-    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
-
-    AutoPilotPlugin* autopilot = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
+    AutoPilotPlugin* autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
     Q_ASSERT(autopilot);
-    
-    MainWindow* mainWindow = MainWindow::instance();
-    Q_ASSERT(mainWindow);
+
+    _createMainWindow();
 
     // Switch to the Setup view
     _mainWindow->showSetupView();
@@ -103,7 +67,6 @@ void SetupViewTest::_clickThrough_test(void)
     
     setExpectedMessageBox(QGCMessageBox::Yes);
     
-    _mainWindow->close();
-    QTest::qWait(1000); // Need to allow signals to move between threads
+    _closeMainWindow();
     checkExpectedMessageBox();
 }

src/VehicleSetup/SetupViewTest.h

@@ -35,17 +35,8 @@ class SetupViewTest : public UnitTest
 {
     Q_OBJECT
     
-public:
-    SetupViewTest(void);
-    
 private slots:
-    void init(void);
-    void cleanup(void);
-    
     void _clickThrough_test(void);
-    
-private:
-    MainWindow*     _mainWindow;
 };
 
 #endif

src/ViewWidgets/CustomCommandWidgetController.cc

@@ -26,6 +26,7 @@
 #include "QGCMAVLink.h"
 #include "QGCFileDialog.h"
 #include "UAS.h"
+#include "QGCApplication.h"
 
 #include <QSettings>
 #include <QUrl>
@@ -35,7 +36,7 @@ const char* CustomCommandWidgetController::_settingsKey = "CustomCommand.QmlFile
 CustomCommandWidgetController::CustomCommandWidgetController(void) :
 	_uas(NULL)
 {
-    _uas = MultiVehicleManager::instance()->activeVehicle()->uas();
+    _uas = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->uas();
     Q_ASSERT(_uas);
     
     QSettings settings;

src/ViewWidgets/ViewWidgetController.cc

@@ -24,12 +24,13 @@
 #include "ViewWidgetController.h"
 #include "MultiVehicleManager.h"
 #include "UAS.h"
+#include "QGCApplication.h"
 
 ViewWidgetController::ViewWidgetController(void) :
 	_autopilot(NULL),
 	_uas(NULL)
 {
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &ViewWidgetController::_vehicleAvailable);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &ViewWidgetController::_vehicleAvailable);
 }
 
 void ViewWidgetController::_vehicleAvailable(bool available)
@@ -41,7 +42,7 @@ void ViewWidgetController::_vehicleAvailable(bool available)
     }
     
     if (available) {
-        Vehicle* vehicle = MultiVehicleManager::instance()->activeVehicle();
+        Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
         
         _uas = vehicle->uas();
         _autopilot = vehicle->autopilotPlugin();
@@ -51,5 +52,5 @@ void ViewWidgetController::_vehicleAvailable(bool available)
 }
 Q_INVOKABLE void ViewWidgetController::checkForVehicle(void)
 {
-    _vehicleAvailable(MultiVehicleManager::instance()->activeVehicle());
+    _vehicleAvailable(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
 }

src/comm/LinkManager.cc

@@ -46,27 +46,20 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMessageBox.h"
 #include "QGCApplication.h"
 #include "SerialPortIds.h"
+#include "QGCApplication.h"
 
-IMPLEMENT_QGC_SINGLETON(LinkManager, LinkManager)
 QGC_LOGGING_CATEGORY(LinkManagerLog, "LinkManagerLog")
 
-/**
- * @brief Private singleton constructor
- *
- * This class implements the singleton design pattern and has therefore only a private constructor.
- **/
-LinkManager::LinkManager(QObject* parent)
-    : QGCSingleton(parent)
+LinkManager::LinkManager(QGCApplication* app)
+    : QGCTool(app)
     , _configUpdateSuspended(false)
     , _configurationsLoaded(false)
     , _connectionsSuspended(false)
     , _mavlinkChannelsUsedBitMask(0)
     , _nullSharedLink(NULL)
+    , _mavlinkProtocol(NULL)
 {
-#ifndef __ios__
-    connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList);
-    _portListTimer.start(1000);
-#endif
+
 }
 
 LinkManager::~LinkManager()
@@ -80,6 +73,18 @@ LinkManager::~LinkManager()
     Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
 }
 
+void LinkManager::setToolbox(QGCToolbox *toolbox)
+{
+   QGCTool::setToolbox(toolbox);
+
+   _mavlinkProtocol = _toolbox->mavlinkProtocol();
+
+#ifndef __ios__
+    connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList);
+    _portListTimer.start(1000);
+#endif
+}
+
 LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
 {
     Q_ASSERT(config);
@@ -149,16 +154,15 @@ void LinkManager::_addLink(LinkInterface* link)
 
     // MainWindow may be around when doing things like running unit tests
     if (MainWindow::instance()) {
-        connect(link, &LinkInterface::communicationError, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
+        connect(link, &LinkInterface::communicationError, _app, &QGCApplication::criticalMessageBoxOnMainThread);
     }
 
-    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
-    connect(link, &LinkInterface::bytesReceived, mavlink, &MAVLinkProtocol::receiveBytes);
-    connect(link, &LinkInterface::connected, mavlink, &MAVLinkProtocol::linkConnected);
-    connect(link, &LinkInterface::disconnected, mavlink, &MAVLinkProtocol::linkDisconnected);
-    mavlink->resetMetadataForLink(link);
+    connect(link, &LinkInterface::bytesReceived,    _mavlinkProtocol, &MAVLinkProtocol::receiveBytes);
+    connect(link, &LinkInterface::connected,        _mavlinkProtocol, &MAVLinkProtocol::linkConnected);
+    connect(link, &LinkInterface::disconnected,     _mavlinkProtocol, &MAVLinkProtocol::linkDisconnected);
+    _mavlinkProtocol->resetMetadataForLink(link);
 
-    connect(link, &LinkInterface::connected, this, &LinkManager::_linkConnected);
+    connect(link, &LinkInterface::connected,    this, &LinkManager::_linkConnected);
     connect(link, &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 }
 

src/comm/LinkManager.h

@@ -34,6 +34,7 @@ This file is part of the PIXHAWK project
 #include "LinkConfiguration.h"
 #include "LinkInterface.h"
 #include "QGCLoggingCategory.h"
+#include "QGCToolbox.h"
 
 // Links
 #ifndef __ios__
@@ -48,12 +49,11 @@ This file is part of the PIXHAWK project
 #endif
 
 #include "ProtocolInterface.h"
-#include "QGCSingleton.h"
 #include "MAVLinkProtocol.h"
 
 Q_DECLARE_LOGGING_CATEGORY(LinkManagerLog)
 
-class LinkManagerTest;
+class QGCApplication;
 
 /// Manage communication links
 ///
@@ -61,16 +61,16 @@ class LinkManagerTest;
 /// links and takes care of connecting them as well assigning the correct
 /// protocol instance to transport the link data into the application.
 
-class LinkManager : public QGCSingleton
+class LinkManager : public QGCTool
 {
     Q_OBJECT
-    DECLARE_QGC_SINGLETON(LinkManager, LinkManager)
 
     /// Unit Test has access to private constructor/destructor
     friend class LinkManagerTest;
 
 public:
-
+    LinkManager(QGCApplication* app);
+    ~LinkManager();
 
     /*!
       Add a new link configuration setting to the list
@@ -144,6 +144,9 @@ public:
     void _deleteLink(LinkInterface* link);
     void _addLink(LinkInterface* link);
 
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 signals:
     void newLink(LinkInterface* link);
     void linkDeleted(LinkInterface* link);
@@ -156,10 +159,6 @@ private slots:
     void _linkDisconnected(void);
 
 private:
-    /// All access to LinkManager is through LinkManager::instance
-    LinkManager(QObject* parent = NULL);
-    ~LinkManager();
-    
     virtual void _shutdown(void);
 
     bool _connectionsSuspendedMsg(void);
@@ -186,6 +185,8 @@ private:
     uint32_t _mavlinkChannelsUsedBitMask;
     
     SharedLinkInterface _nullSharedLink;
+
+    MAVLinkProtocol*    _mavlinkProtocol;
 };
 
 #endif

src/comm/LogReplayLink.cc

@@ -23,6 +23,7 @@
 
 #include "LogReplayLink.h"
 #include "LinkManager.h"
+#include "QGCApplication.h"
 
 #include <QFileInfo>
 #include <QtEndian>
@@ -101,7 +102,7 @@ LogReplayLink::~LogReplayLink(void)
 bool LogReplayLink::_connect(void)
 {
     // Disallow replay when any links are connected
-    if (LinkManager::instance()->anyConnectedLinks()) {
+    if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
         emit communicationError(_errorTitle, "You must close all connections prior to replaying a log.");
         return false;
     }
@@ -366,9 +367,9 @@ void LogReplayLink::_readNextLogEntry(void)
 void LogReplayLink::_play(void)
 {
     // FIXME: With move to link I don't think this is needed any more? Except for the replay widget handling multi-uas?
-    LinkManager::instance()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
+    qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
 #ifndef __mobile__
-    MAVLinkProtocol::instance()->suspendLogForReplay(true);
+    qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(true);
 #endif
     
     // Make sure we aren't at the end of the file, if we are, reset to the beginning and play from there.
@@ -398,9 +399,9 @@ void LogReplayLink::_play(void)
 
 void LogReplayLink::_pause(void)
 {
-    LinkManager::instance()->setConnectionsAllowed();
+    qgcApp()->toolbox()->linkManager()->setConnectionsAllowed();
 #ifndef __mobile__
-    MAVLinkProtocol::instance()->suspendLogForReplay(false);
+    qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(false);
 #endif
     
     _readTickTimer.stop();

src/comm/MAVLinkProtocol.cc

@@ -30,7 +30,7 @@
 #include "MultiVehicleManager.h"
 
 Q_DECLARE_METATYPE(mavlink_message_t)
-IMPLEMENT_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
+
 QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "MAVLinkProtocolLog")
 
 #ifndef __mobile__
@@ -42,53 +42,30 @@ const char* MAVLinkProtocol::_logFileExtension = "mavlink";             ///< Ext
  * The default constructor will create a new MAVLink object sending heartbeats at
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
  */
-MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
-    QGCSingleton(parent),
-    m_multiplexingEnabled(false),
-    m_authEnabled(false),
-    m_enable_version_check(true),
-    m_paramRetransmissionTimeout(350),
-    m_paramRewriteTimeout(500),
-    m_paramGuardEnabled(true),
-    m_actionGuardEnabled(false),
-    m_actionRetransmissionTimeout(100),
-    versionMismatchIgnore(false),
-    systemId(QGC::defaultSystemId),
+MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app)
+    : QGCTool(app)
+    , m_multiplexingEnabled(false)
+    , m_authEnabled(false)
+    , m_enable_version_check(true)
+    , m_paramRetransmissionTimeout(350)
+    , m_paramRewriteTimeout(500)
+    , m_paramGuardEnabled(true)
+    , m_actionGuardEnabled(false)
+    , m_actionRetransmissionTimeout(100)
+    , versionMismatchIgnore(false)
+    , systemId(QGC::defaultSystemId)
 #ifndef __mobile__
-    _logSuspendError(false),
-    _logSuspendReplay(false),
-    _logWasArmed(false),
-    _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension)),
+    , _logSuspendError(false)
+    , _logSuspendReplay(false)
+    , _logWasArmed(false)
+    , _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension))
 #endif
-    _linkMgr(LinkManager::instance()),
-    _heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
-    _heartbeatsEnabled(true)
+    , _heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE)
+    , _heartbeatsEnabled(true)
+    , _linkMgr(NULL)
+    , _multiVehicleManager(NULL)
 {
-    qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
-    
-    m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
-    loadSettings();
-
-    // All the *Counter variables are not initialized here, as they should be initialized
-    // on a per-link basis before those links are used. @see resetMetadataForLink().
 
-    // Initialize the list for tracking dropped messages to invalid.
-    for (int i = 0; i < 256; i++)
-    {
-        for (int j = 0; j < 256; j++)
-        {
-            lastIndex[i][j] = -1;
-        }
-    }
-    
-    // Start heartbeat timer, emitting a heartbeat at the configured rate
-    connect(&_heartbeatTimer, &QTimer::timeout, this, &MAVLinkProtocol::sendHeartbeat);
-    _heartbeatTimer.start(1000/_heartbeatRate);
-
-    connect(this, &MAVLinkProtocol::protocolStatusMessage, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
-    connect(this, &MAVLinkProtocol::saveTempFlightDataLog, qgcApp(), &QGCApplication::saveTempFlightDataLogOnMainThread);
-
-    emit versionCheckChanged(m_enable_version_check);
 }
 
 MAVLinkProtocol::~MAVLinkProtocol()
@@ -100,6 +77,40 @@ MAVLinkProtocol::~MAVLinkProtocol()
 #endif
 }
 
+void MAVLinkProtocol::setToolbox(QGCToolbox *toolbox)
+{
+   QGCTool::setToolbox(toolbox);
+
+   _linkMgr =               _toolbox->linkManager();
+   _multiVehicleManager =   _toolbox->multiVehicleManager();
+
+   qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
+
+   m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
+   loadSettings();
+
+   // All the *Counter variables are not initialized here, as they should be initialized
+   // on a per-link basis before those links are used. @see resetMetadataForLink().
+
+   // Initialize the list for tracking dropped messages to invalid.
+   for (int i = 0; i < 256; i++)
+   {
+       for (int j = 0; j < 256; j++)
+       {
+           lastIndex[i][j] = -1;
+       }
+   }
+
+   // Start heartbeat timer, emitting a heartbeat at the configured rate
+   connect(&_heartbeatTimer, &QTimer::timeout, this, &MAVLinkProtocol::sendHeartbeat);
+   _heartbeatTimer.start(1000/_heartbeatRate);
+
+   connect(this, &MAVLinkProtocol::protocolStatusMessage, _app, &QGCApplication::criticalMessageBoxOnMainThread);
+   connect(this, &MAVLinkProtocol::saveTempFlightDataLog, _app, &QGCApplication::saveTempFlightDataLogOnMainThread);
+
+   emit versionCheckChanged(m_enable_version_check);
+}
+
 void MAVLinkProtocol::loadSettings()
 {
     // Load defaults from settings
@@ -185,7 +196,7 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
         }
         
         // Use the same shared pointer as LinkManager
-        _connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
+        _connectedLinks.append(_linkMgr->sharedPointerForLink(link));
         
 #ifndef __mobile__
         if (_connectedLinks.count() == 1) {
@@ -235,7 +246,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
     // Since receiveBytes signals cross threads we can end up with signals in the queue
     // that come through after the link is disconnected. For these we just drop the data
     // since the link is closed.
-    if (!LinkManager::instance()->containsLink(link)) {
+    if (!_linkMgr->containsLink(link)) {
         return;
     }
     
@@ -356,7 +367,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
                 mavlink_heartbeat_t heartbeat;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
-                if (!MultiVehicleManager::instance()->notifyHeartbeatInfo(link, message.sysid, heartbeat)) {
+                if (!_multiVehicleManager->notifyHeartbeatInfo(link, message.sysid, heartbeat)) {
                     continue;
                 }
             }
@@ -667,7 +678,7 @@ void MAVLinkProtocol::_stopLogging(void)
 {
     if (_closeLogFile()) {
         // If the signals are not connected it means we are running a unit test. In that case just delete log files
-        if (_logWasArmed && qgcApp()->promptFlightDataSave()) {
+        if (_logWasArmed && _app->promptFlightDataSave()) {
             emit saveTempFlightDataLog(_tempLogFile.fileName());
         } else {
             QFile::remove(_tempLogFile.fileName());

src/comm/MAVLinkProtocol.h

@@ -43,9 +43,11 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMAVLink.h"
 #include "QGC.h"
 #include "QGCTemporaryFile.h"
-#include "QGCSingleton.h"
+#include "QGCToolbox.h"
 
 class LinkManager;
+class MultiVehicleManager;
+class QGCApplication;
 
 Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
 
@@ -56,13 +58,14 @@ Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
  * for more information, please see the official website.
  * @ref http://pixhawk.ethz.ch/software/mavlink/
  **/
-class MAVLinkProtocol : public QGCSingleton
+class MAVLinkProtocol : public QGCTool
 {
     Q_OBJECT
-    
-    DECLARE_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
 
 public:
+    MAVLinkProtocol(QGCApplication* app);
+    ~MAVLinkProtocol();
+
     /** @brief Get the human-friendly name of this protocol */
     QString getName();
     /** @brief Get the system id of this application */
@@ -145,6 +148,9 @@ public:
     /// Suspend/Restart logging during replay.
     void suspendLogForReplay(bool suspend);
 
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 public slots:
     /** @brief Receive bytes from a communication interface */
     void receiveBytes(LinkInterface* link, QByteArray b);
@@ -279,9 +285,6 @@ signals:
     void saveTempFlightDataLog(QString tempLogfile);
     
 private:
-    MAVLinkProtocol(QObject* parent = NULL);
-    ~MAVLinkProtocol();
-
     void _linkStatusChanged(LinkInterface* link, bool connected);
 
 #ifndef __mobile__
@@ -303,11 +306,12 @@ private:
     /// This way Link deletion works correctly.
     QList<SharedLinkInterface> _connectedLinks;
     
-    LinkManager* _linkMgr;
-    
     QTimer  _heartbeatTimer;    ///< Timer to emit heartbeats
     int     _heartbeatRate;     ///< Heartbeat rate, controls the timer interval
     bool    _heartbeatsEnabled; ///< Enabled/disable heartbeat emission
+
+    LinkManager*            _linkMgr;
+    MultiVehicleManager*    _multiVehicleManager;
 };
 
 #endif // MAVLINKPROTOCOL_H_

src/comm/MockLink.cc

@@ -23,6 +23,7 @@
 
 #include "MockLink.h"
 #include "QGCLoggingCategory.h"
+#include "QGCApplication.h"
 
 #include <QTimer>
 #include <QDebug>
@@ -76,7 +77,7 @@ const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
 const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
 
 MockLink::MockLink(MockConfiguration* config)
-    : _missionItemHandler(this)
+    : _missionItemHandler(this, qgcApp()->toolbox()->mavlinkProtocol())
     , _name("MockLink")
     , _connected(false)
     , _vehicleSystemId(128)     // FIXME: Pull from eventual parameter manager

src/comm/MockLinkMissionItemHandler.cc

@@ -28,11 +28,12 @@
 
 QGC_LOGGING_CATEGORY(MockLinkMissionItemHandlerLog, "MockLinkMissionItemHandlerLog")
 
-MockLinkMissionItemHandler::MockLinkMissionItemHandler(MockLink* mockLink)
+MockLinkMissionItemHandler::MockLinkMissionItemHandler(MockLink* mockLink, MAVLinkProtocol* mavlinkProtocol)
     : _mockLink(mockLink)
     , _missionItemResponseTimer(NULL)
     , _failureMode(FailNone)
     , _sendHomePositionOnEmptyList(false)
+    , _mavlinkProtocol(mavlinkProtocol)
 {
     Q_ASSERT(mockLink);
 }
@@ -234,8 +235,8 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
             mavlink_message_t           message;
             mavlink_mission_request_t   missionRequest;
             
-            missionRequest.target_system =      MAVLinkProtocol::instance()->getSystemId();
-            missionRequest.target_component =   MAVLinkProtocol::instance()->getComponentId();
+            missionRequest.target_system =      _mavlinkProtocol->getSystemId();
+            missionRequest.target_component =   _mavlinkProtocol->getComponentId();
             missionRequest.seq =                sequenceNumber;
             
             mavlink_msg_mission_request_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionRequest);
@@ -258,8 +259,8 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
     mavlink_message_t       message;
     mavlink_mission_ack_t   missionAck;
     
-    missionAck.target_system =      MAVLinkProtocol::instance()->getSystemId();
-    missionAck.target_component =   MAVLinkProtocol::instance()->getComponentId();
+    missionAck.target_system =      _mavlinkProtocol->getSystemId();
+    missionAck.target_component =   _mavlinkProtocol->getComponentId();
     missionAck.type =               ackType;
     
     mavlink_msg_mission_ack_encode(_mockLink->vehicleId(), MAV_COMP_ID_MISSIONPLANNER, &message, &missionAck);

src/comm/MockLinkMissionItemHandler.h

@@ -30,6 +30,7 @@
 
 #include "QGCMAVLink.h"
 #include "QGCLoggingCategory.h"
+#include "MAVLinkProtocol.h"
 
 class MockLink;
 
@@ -40,7 +41,7 @@ class MockLinkMissionItemHandler : public QObject
     Q_OBJECT
 
 public:
-    MockLinkMissionItemHandler(MockLink* mockLink);
+    MockLinkMissionItemHandler(MockLink* mockLink, MAVLinkProtocol* mavlinkProtocol);
     ~MockLinkMissionItemHandler();
     
     // Prepares for destruction on correct thread
@@ -111,10 +112,11 @@ private:
     typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
     MissionList_t   _missionItems;
     
-    QTimer* _missionItemResponseTimer;
-    FailureMode_t   _failureMode;
-    bool            _failureFirstTimeOnly;
-    bool            _sendHomePositionOnEmptyList;
+    QTimer*             _missionItemResponseTimer;
+    FailureMode_t       _failureMode;
+    bool                _failureFirstTimeOnly;
+    bool                _sendHomePositionOnEmptyList;
+    MAVLinkProtocol*    _mavlinkProtocol;
 };
 
 #endif

src/comm/QGCFlightGearLink.cc

@@ -46,6 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
 #include "HomePositionManager.h"
+#include "QGCApplication.h"
 
 // FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
 // for tracking down problems.
@@ -957,11 +958,11 @@ bool QGCFlightGearLink::connectSimulation()
     }
     
     // We start out at our home position
-    _fgArgList << QString("--lat=%1").arg(HomePositionManager::instance()->getHomeLatitude());
-    _fgArgList << QString("--lon=%1").arg(HomePositionManager::instance()->getHomeLongitude());
+    _fgArgList << QString("--lat=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeLatitude());
+    _fgArgList << QString("--lon=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeLongitude());
     // The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
     // Without the altitude-setting the aircraft is positioned on the ground
-    //_fgArgList << QString("--altitude=%1").arg(HomePositionManager::instance()->getHomeAltitude());
+    //_fgArgList << QString("--altitude=%1").arg(qgcApp()->toolbox()->homePositionManager()->getHomeAltitude());
     
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
     // This tell FlightGear to output highest debug level of log output. Handy for debuggin failures by looking at the FG

src/comm/SerialLink.cc

@@ -133,7 +133,7 @@ bool SerialLink::_disconnect(void)
     }
     
 #ifdef __android__
-    LinkManager::instance()->suspendConfigurationUpdates(false);
+    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
 #endif
     return true;
 }
@@ -150,7 +150,7 @@ bool SerialLink::_connect(void)
     _disconnect();
     
 #ifdef __android__
-    LinkManager::instance()->suspendConfigurationUpdates(true);
+    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
 #endif
     
     // Initialize the connection

src/input/Mouse6dofInput.cpp

@@ -38,7 +38,7 @@ Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
     bValue(0.0),
     cValue(0.0)
 {
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
     
     // Connect 3DxWare SDK MotionEvent
     connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
@@ -63,7 +63,7 @@ Mouse6dofInput::Mouse6dofInput(QWidget* parent) :
     bValue(0.0),
     cValue(0.0)
 {
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
 
     if (!mouseActive)
     {
@@ -137,7 +137,7 @@ void Mouse6dofInput::_activeVehicleChanged(Vehicle* vehicle)
 void Mouse6dofInput::init()
 {
     // Make sure active UAS is set
-    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
 }
 
 void Mouse6dofInput::run()

src/qgcunittest/FileManagerTest.cc

@@ -27,14 +27,14 @@
 #include "FileManagerTest.h"
 #include "MultiVehicleManager.h"
 #include "UAS.h"
+#include "QGCApplication.h"
 
 //UT_REGISTER_TEST(FileManagerTest)
 
-FileManagerTest::FileManagerTest(void) :
-    _mockLink(NULL),
-    _fileServer(NULL),
-    _fileManager(NULL),
-    _multiSpy(NULL)
+FileManagerTest::FileManagerTest(void)
+    : _fileServer(NULL)
+    , _fileManager(NULL)
+    , _multiSpy(NULL)
 {
 
 }
@@ -44,24 +44,12 @@ void FileManagerTest::init(void)
 {
     UnitTest::init();
     
-    _mockLink = new MockLink();
-    Q_CHECK_PTR(_mockLink);
-    LinkManager::instance()->_addLink(_mockLink);
-    LinkManager::instance()->connectLink(_mockLink);
+    _connectMockLink();
 
     _fileServer = _mockLink->getFileServer();
     QVERIFY(_fileServer != NULL);
     
-    // Wait or the Vehicle to show up
-    MultiVehicleManager* vehicleManager = MultiVehicleManager::instance();
-    QSignalSpy spyVehicleCreate(vehicleManager, SIGNAL(activeVehicleChanged(Vehicle*)));
-    if (!vehicleManager->activeVehicle()) {
-        QCOMPARE(spyVehicleCreate.wait(10000), true);
-    }
-    UASInterface* uas = vehicleManager->activeVehicle()->uas();
-    QVERIFY(uas != NULL);
-    
-    _fileManager = uas->getFileManager();
+    _fileManager = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->uas()->getFileManager();
     QVERIFY(_fileManager != NULL);
     
     Q_ASSERT(_multiSpy == NULL);
@@ -89,9 +77,9 @@ void FileManagerTest::cleanup(void)
     
     // Disconnecting the link will prompt for log file save
     setExpectedFileDialog(getSaveFileName, QStringList());
-    LinkManager::instance()->disconnectLink(_mockLink);
+    _disconnectMockLink();
+
     _fileServer = NULL;
-    _mockLink = NULL;
     _fileManager = NULL;
     
     delete _multiSpy;

src/qgcunittest/FileManagerTest.h

@@ -76,7 +76,6 @@ private:
     static const uint8_t    _systemIdQGC = 255;
     static const uint8_t    _systemIdServer = 128;
 
-    MockLink*           _mockLink;
     MockLinkFileServer* _fileServer;
     FileManager*        _fileManager;
 

src/qgcunittest/LinkManagerTest.cc

@@ -28,6 +28,7 @@
 
 #include "LinkManagerTest.h"
 #include "MockLink.h"
+#include "QGCApplication.h"
 
 UT_REGISTER_TEST(LinkManagerTest)
 
@@ -45,7 +46,7 @@ void LinkManagerTest::init(void)
     Q_ASSERT(_linkMgr == NULL);
     Q_ASSERT(_multiSpy == NULL);
     
-    _linkMgr = new LinkManager(NULL /* no parent */);
+    _linkMgr = qgcApp()->toolbox()->linkManager();
     Q_CHECK_PTR(_linkMgr);
     
     _rgSignals[newLinkSignalIndex] = SIGNAL(newLink(LinkInterface*));
@@ -60,9 +61,6 @@ void LinkManagerTest::cleanup(void)
     Q_ASSERT(_linkMgr);
     Q_ASSERT(_multiSpy);
     
-    _linkMgr->_shutdown();
-    
-    delete _linkMgr;
     delete _multiSpy;
     
     _linkMgr = NULL;
@@ -77,12 +75,11 @@ void LinkManagerTest::_add_test(void)
     Q_ASSERT(_linkMgr);
     Q_ASSERT(_linkMgr->getLinks().count() == 0);
     
-    MockLink* link = new MockLink();
-    _linkMgr->_addLink(link);
+    _connectMockLink();
     
     QList<LinkInterface*> links = _linkMgr->getLinks();
     QCOMPARE(links.count(), 1);
-    QCOMPARE(dynamic_cast<MockLink*>(links[0]), link);
+    QCOMPARE(dynamic_cast<MockLink*>(links[0]), _mockLink);
 }
 
 void LinkManagerTest::_delete_test(void)
@@ -90,9 +87,8 @@ void LinkManagerTest::_delete_test(void)
     Q_ASSERT(_linkMgr);
     Q_ASSERT(_linkMgr->getLinks().count() == 0);
     
-    MockLink* link = new MockLink();
-    _linkMgr->_addLink(link);
-    _linkMgr->_deleteLink(link);
+    _connectMockLink();
+    _disconnectMockLink();
     
     QCOMPARE(_linkMgr->getLinks().count(), 0);
 }
@@ -103,9 +99,8 @@ void LinkManagerTest::_addSignals_test(void)
     Q_ASSERT(_linkMgr->getLinks().count() == 0);
     Q_ASSERT(_multiSpy->checkNoSignals() == true);
     
-    MockLink* link = new MockLink();
-    _linkMgr->_addLink(link);
-    
+    _connectMockLink();
+
     QCOMPARE(_multiSpy->checkOnlySignalByMask(newLinkSignalMask), true);
     QSignalSpy* spy = _multiSpy->getSpyByIndex(newLinkSignalIndex);
     
@@ -115,7 +110,7 @@ void LinkManagerTest::_addSignals_test(void)
     QObject* object = qvariant_cast<QObject *>(signalArgs[0]);
     QVERIFY(object != NULL);
     MockLink* signalLink = qobject_cast<MockLink*>(object);
-    QCOMPARE(signalLink, link);
+    QCOMPARE(signalLink, _mockLink);
 }
 
 void LinkManagerTest::_deleteSignals_test(void)
@@ -124,11 +119,9 @@ void LinkManagerTest::_deleteSignals_test(void)
     Q_ASSERT(_linkMgr->getLinks().count() == 0);
     Q_ASSERT(_multiSpy->checkNoSignals() == true);
     
-    MockLink* link = new MockLink();
-    _linkMgr->_addLink(link);
+    _connectMockLink();
     _multiSpy->clearAllSignals();
-    
-    _linkMgr->_deleteLink(link);
+    _disconnectMockLink();
     
     QCOMPARE(_multiSpy->checkOnlySignalByMask(linkDeletedSignalMask), true);
     QSignalSpy* spy = _multiSpy->getSpyByIndex(linkDeletedSignalIndex);

src/qgcunittest/MainWindowTest.cc

@@ -31,56 +31,18 @@
 #include "QGCMessageBox.h"
 #include "MultiVehicleManager.h"
 
-UT_REGISTER_TEST(MainWindowTest)
-
-MainWindowTest::MainWindowTest(void) :
-    _mainWindow()
-{
-    
-}
-
-void MainWindowTest::init(void)
-{
-    UnitTest::init();
-
-    _mainWindow = MainWindow::_create();
-    Q_CHECK_PTR(_mainWindow);
-}
-
-void MainWindowTest::cleanup(void)
-{
-    _mainWindow->close();
-    QTest::qWait(200);
-    delete _mainWindow;
-    
-    UnitTest::cleanup();
-}
+// FIXME: Temporarily turned off
+//UT_REGISTER_TEST(MainWindowTest)
 
 void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
 {
-    LinkManager* linkMgr = LinkManager::instance();
-    Q_CHECK_PTR(linkMgr);
-    
-    MockLink* link = new MockLink();
-    Q_CHECK_PTR(link);
-    link->setFirmwareType(autopilot);
-    LinkManager::instance()->_addLink(link);
-    
-    linkMgr->connectLink(link);
-    
-    // Wait for the Vehicle to work it's way through the various threads
-    
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
-    QCOMPARE(spyVehicle.wait(5000), true);
+    _createMainWindow();
+    _connectMockLink(autopilot);
     
     // On MainWindow close we should get a message box telling the user to disconnect first. Cancel should do nothing.
     setExpectedMessageBox(QGCMessageBox::Cancel);
-    _mainWindow->close();
-    QTest::qWait(1000); // Need to allow signals to move between threads    
+    _closeMainWindow(true /* cancelExpected */);
     checkExpectedMessageBox();
-
-    linkMgr->disconnectLink(link);
-    QTest::qWait(1000); // Need to allow signals to move between threads
 }
 
 void MainWindowTest::_connectWindowClosePX4_test(void) {

src/qgcunittest/MainWindowTest.h

@@ -36,20 +36,12 @@ class MainWindowTest : public UnitTest
 {
     Q_OBJECT
     
-public:
-    MainWindowTest(void);
-    
 private slots:
-    void init(void);
-    void cleanup(void);
-    
     void _connectWindowClosePX4_test(void);
     void _connectWindowCloseGeneric_test(void);
 
 private:
     void _connectWindowClose_test(MAV_AUTOPILOT autopilot);
-    
-    MainWindow*     _mainWindow;
 };
 
 #endif

src/qgcunittest/MavlinkLogTest.cc

@@ -92,7 +92,7 @@ void MavlinkLogTest::_bootLogDetectionCancel_test(void)
     setExpectedFileDialog(getSaveFileName, QStringList());
 
     // Kick the protocol to check for lost log files and wait for signals to move through
-    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();
     QTest::qWait(1000);
     
@@ -112,7 +112,7 @@ void MavlinkLogTest::_bootLogDetectionSave_test(void)
     setExpectedFileDialog(getSaveFileName, QStringList(logSaveFile));
     
     // Kick the protocol to check for lost log files and wait for signals to move through
-    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();
     QTest::qWait(1000);
     
@@ -129,7 +129,7 @@ void MavlinkLogTest::_bootLogDetectionZeroLength_test(void)
     _createTempLogFile(true);
     
     // Kick the protocol to check for lost log files and wait for signals to move through
-    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();
     QTest::qWait(1000);
     
@@ -138,23 +138,12 @@ void MavlinkLogTest::_bootLogDetectionZeroLength_test(void)
 
 void MavlinkLogTest::_connectLogWorker(bool arm)
 {
-    LinkManager* linkMgr = LinkManager::instance();
-    Q_CHECK_PTR(linkMgr);
-    
-    MockLink* link = new MockLink();
-    Q_CHECK_PTR(link);
-    LinkManager::instance()->_addLink(link);
-    linkMgr->connectLink(link);
-    
-    // Wait for the uas to work it's way through the various threads
-    
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
-    QCOMPARE(spyVehicle.wait(5000), true);
+    _connectMockLink();
 
     QDir logSaveDir;
     
     if (arm) {
-        MultiVehicleManager::instance()->activeVehicle()->setArmed(true);
+        qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->setArmed(true);
         QTest::qWait(1500); // Wait long enough for heartbeat to come through
         
         // On Disconnect: We should get a getSaveFileName dialog.
@@ -163,8 +152,7 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
         setExpectedFileDialog(getSaveFileName, QStringList(logSaveFile));
     }
     
-    linkMgr->disconnectLink(link);
-    QTest::qWait(1000); // Need to allow signals to move between threads
+    _disconnectMockLink();
 
     if (arm) {
         checkExpectedFileDialog();

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -24,6 +24,7 @@
 #include "PX4RCCalibrationTest.h"
 #include "RadioComponentController.h"
 #include "MultiVehicleManager.h"
+#include "QGCApplication.h"
 
 /// @file
 ///     @brief QRadioComponentController Widget unit test
@@ -149,18 +150,9 @@ void RadioConfigTest::init(void)
 {
     UnitTest::init();
     
-    _mockLink = new MockLink();
-    Q_CHECK_PTR(_mockLink);
-    LinkManager::instance()->_addLink(_mockLink);
-    LinkManager::instance()->connectLink(_mockLink);
+    _connectMockLink();
     
-    // Wait for the Vehicle to get created
-    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
-    QCOMPARE(spyVehicle.wait(5000), true);
-    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
-    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
-    
-    _autopilot = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
+    _autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
     Q_ASSERT(_autopilot);
     
     // This will instatiate the widget with an active uas with ready parameters
@@ -192,8 +184,6 @@ void RadioConfigTest::cleanup(void)
     // Disconnecting the link will prompt for log file save
     setExpectedFileDialog(getSaveFileName, QStringList());
     
-    LinkManager::instance()->disconnectLink(_mockLink);
-    
     UnitTest::cleanup();
 }
 

src/qgcunittest/PX4RCCalibrationTest.h

@@ -94,7 +94,6 @@ private:
     
     void _validateParameters(void);
     
-    MockLink*           _mockLink;
     AutoPilotPlugin*    _autopilot;
     
     QGCQmlWidgetHolder* _calWidget;

src/qgcunittest/UnitTest.cc

@@ -29,6 +29,7 @@
 #include "UnitTest.h"
 #include "QGCApplication.h"
 #include "MAVLinkProtocol.h"
+#include "MainWindow.h"
 
 bool UnitTest::_messageBoxRespondedTo = false;
 bool UnitTest::_badResponseButton = false;
@@ -41,14 +42,17 @@ QStringList UnitTest::_fileDialogResponse;
 enum UnitTest::FileDialogType UnitTest::_fileDialogExpectedType = getOpenFileName;
 int UnitTest::_missedFileDialogCount = 0;
 
-UnitTest::UnitTest(void) :
-    _expectMissedFileDialog(false),
-    _expectMissedMessageBox(false),
-    _unitTestRun(false),
-    _initCalled(false),
-    _cleanupCalled(false)
-{
-    
+UnitTest::UnitTest(void)
+    : _linkManager(NULL)
+    , _mockLink(NULL)
+    , _mainWindow(NULL)
+    , _expectMissedFileDialog(false)
+    , _expectMissedMessageBox(false)
+    , _unitTestRun(false)
+    , _initCalled(false)
+    , _cleanupCalled(false)
+{    
+
 }
 
 UnitTest::~UnitTest()
@@ -101,6 +105,11 @@ int UnitTest::run(QString& singleTest)
 void UnitTest::init(void)
 {
     _initCalled = true;
+
+    if (!_linkManager) {
+        _linkManager = qgcApp()->toolbox()->linkManager();
+        connect(_linkManager, &LinkManager::linkDeleted, this, &UnitTest::_linkDeleted);
+    }
     
     _messageBoxRespondedTo = false;
     _missedMessageBoxCount = 0;
@@ -128,6 +137,9 @@ void UnitTest::cleanup(void)
 {
     _cleanupCalled = true;
 
+    _disconnectMockLink();
+    _closeMainWindow();
+
     // We add a slight delay here to allow for deleteLater and Qml cleanup
     QTest::qWait(200);
 
@@ -358,3 +370,58 @@ QString UnitTest::_getSaveFileName(
 
     return _fileDialogResponseSingle(getSaveFileName);
 }
+
+void UnitTest::_connectMockLink(MAV_AUTOPILOT autopilot)
+{
+    Q_ASSERT(!_mockLink);
+
+    _mockLink = new MockLink();
+    _mockLink->setFirmwareType(autopilot);
+
+    _linkManager->_addLink(_mockLink);
+    _linkManager->connectLink(_mockLink);
+
+    // Wait for the Vehicle to get created
+    QSignalSpy spyVehicle(qgcApp()->toolbox()->multiVehicleManager(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
+    QCOMPARE(spyVehicle.wait(5000), true);
+    QVERIFY(qgcApp()->toolbox()->multiVehicleManager()->parameterReadyVehicleAvailable());
+    QVERIFY(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
+}
+
+void UnitTest::_disconnectMockLink(void)
+{
+    if (_mockLink) {
+        QSignalSpy  linkSpy(_linkManager, SIGNAL(linkDeleted(LinkInterface*)));
+
+        _linkManager->disconnectLink(_mockLink);
+
+        // Wait for link to go away
+        linkSpy.wait(1000);
+        QCOMPARE(linkSpy.count(), 1);
+    }
+}
+
+void UnitTest::_linkDeleted(LinkInterface* link)
+{
+    if (link == _mockLink) {
+        _mockLink = NULL;
+    }
+}
+
+void UnitTest::_createMainWindow(void)
+{
+    _mainWindow = MainWindow::_create();
+    Q_CHECK_PTR(_mainWindow);
+}
+
+void UnitTest::_closeMainWindow(bool cancelExpected)
+{
+    if (_mainWindow) {
+        QSignalSpy  mainWindowSpy(_mainWindow, SIGNAL(mainWindowClosed()));
+
+        _mainWindow->close();
+
+        mainWindowSpy.wait(2000);
+        QCOMPARE(mainWindowSpy.count(), cancelExpected ? 0 : 1);
+    }
+}

src/qgcunittest/UnitTest.h

@@ -35,11 +35,16 @@
 #include <QMessageBox>
 #include <QFileDialog>
 
+#include "QGCMAVLink.h"
+#include "LinkInterface.h"
+
 #define UT_REGISTER_TEST(className) static UnitTestWrapper<className> t(#className);
 
 class QGCMessageBox;
 class QGCFileDialog;
-class UnitTest;
+class LinkManager;
+class MockLink;
+class MainWindow;
 
 class UnitTest : public QObject
 {
@@ -102,9 +107,21 @@ protected slots:
     virtual void cleanup(void);
     
 protected:
+    void _connectMockLink(MAV_AUTOPILOT autopilot = MAV_AUTOPILOT_PX4);
+    void _disconnectMockLink(void);
+    void _createMainWindow(void);
+    void _closeMainWindow(bool cancelExpected = false);
+
+    LinkManager*    _linkManager;
+    MockLink*       _mockLink;
+    MainWindow*     _mainWindow;
+
     bool _expectMissedFileDialog;   // true: expect a missed file dialog, used for internal testing
     bool _expectMissedMessageBox;   // true: expect a missed message box, used for internal testing
-    
+
+private slots:
+    void _linkDeleted(LinkInterface* link);
+
 private:
     // When the app is running in unit test mode the QGCMessageBox methods are re-routed here.
     

src/uas/FileManager.cc

@@ -26,6 +26,7 @@
 #include "MAVLinkProtocol.h"
 #include "MainWindow.h"
 #include "Vehicle.h"
+#include "QGCApplication.h"
 
 #include <QFile>
 #include <QDir>
@@ -718,7 +719,7 @@ void FileManager::_sendRequest(Request* request)
     qCDebug(FileManagerLog) << "_sendRequest opcode:" << request->hdr.opcode << "seqNumber:" << request->hdr.seqNumber;
     
     if (_systemIdQGC == 0) {
-        _systemIdQGC = MAVLinkProtocol::instance()->getSystemId();
+        _systemIdQGC = qgcApp()->toolbox()->mavlinkProtocol()->getSystemId();
     }
     
     Q_ASSERT(_vehicle);

src/uas/UAS.cc

@@ -50,7 +50,7 @@ QGC_LOGGING_CATEGORY(UASLog, "UASLog")
 * creating the UAS.
 */
 
-UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle) : UASInterface(),
+UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager) : UASInterface(),
     lipoFull(4.2f),
     lipoEmpty(3.5f),
     uasId(vehicle->id()),
@@ -177,7 +177,8 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle) : UASInterface(),
     lastSendTimeGPS(0),
     lastSendTimeSensors(0),
     lastSendTimeOpticalFlow(0),
-    _vehicle(vehicle)
+    _vehicle(vehicle),
+    _firmwarePluginManager(firmwarePluginManager)
 {
 
     for (unsigned int i = 0; i<255;++i)
@@ -398,7 +399,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             bool statechanged = false;
             bool modechanged = false;
 
-            QString audiomodeText = FirmwarePluginManager::instance()->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);
+            QString audiomodeText = _firmwarePluginManager->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);
 
             if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
             {
@@ -443,7 +444,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
             {
                 _say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
-                QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
+                QTimer::singleShot(3000, qgcApp()->toolbox()->audioOutput(), SLOT(startEmergency()));
             }
             else if (modechanged || statechanged)
             {
@@ -1058,28 +1059,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist);
         }
             break;
-        // Messages to ignore
-        case MAVLINK_MSG_ID_RAW_IMU:
-        case MAVLINK_MSG_ID_SCALED_IMU:
-        case MAVLINK_MSG_ID_RAW_PRESSURE:
-        case MAVLINK_MSG_ID_SCALED_PRESSURE:
-        case MAVLINK_MSG_ID_OPTICAL_FLOW:
-        case MAVLINK_MSG_ID_DEBUG_VECT:
-        case MAVLINK_MSG_ID_DEBUG:
-        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
-        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
-        case MAVLINK_MSG_ID_MANUAL_CONTROL:
-        case MAVLINK_MSG_ID_HIGHRES_IMU:
-        case MAVLINK_MSG_ID_DISTANCE_SENSOR:
-            break;
         default:
-        {
-            if (!unknownPackets.contains(message.msgid))
-            {
-                unknownPackets.append(message.msgid);
-                qDebug() << "Unknown message from system:" << uasId << "message:" << message.msgid;
-            }
-        }
             break;
         }
     }
@@ -2474,5 +2454,5 @@ void UAS::unsetRCToParameterMap()
 void UAS::_say(const QString& text, int severity)
 {
     if (!qgcApp()->runningUnitTests())
-        GAudioOutput::instance()->say(text, severity);
+        qgcApp()->toolbox()->audioOutput()->say(text, severity);
 }

src/uas/UAS.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMAVLink.h"
 #include "FileManager.h"
 #include "Vehicle.h"
+#include "FirmwarePluginManager.h"
 
 #ifndef __mobile__
 #include "QGCHilLink.h"
@@ -62,7 +63,7 @@ class UAS : public UASInterface
 {
     Q_OBJECT
 public:
-    UAS(MAVLinkProtocol* protocol, Vehicle* vehicle);
+    UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager);
     ~UAS();
 
     float lipoFull;  ///< 100% charged voltage
@@ -695,7 +696,8 @@ private:
     void _say(const QString& text, int severity = 6);
     
 private:
-    Vehicle*            _vehicle;
+    Vehicle*                _vehicle;
+    FirmwarePluginManager*  _firmwarePluginManager;
 };
 
 

src/uas/UASMessageHandler.cc

@@ -52,20 +52,17 @@ bool UASMessage::severityIsError()
     }
 }
 
-IMPLEMENT_QGC_SINGLETON(UASMessageHandler, UASMessageHandler)
-
-UASMessageHandler::UASMessageHandler(QObject *parent)
-    : QGCSingleton(parent)
+UASMessageHandler::UASMessageHandler(QGCApplication* app)
+    : QGCTool(app)
     , _activeUAS(NULL)
     , _errorCount(0)
     , _errorCountTotal(0)
     , _warningCount(0)
     , _normalCount(0)
     , _showErrorsInToolbar(false)
+    , _multiVehicleManager(NULL)
 {
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &UASMessageHandler::_activeVehicleChanged);
-    emit textMessageReceived(NULL);
-    emit textMessageCountChanged(0);
+
 }
 
 UASMessageHandler::~UASMessageHandler()
@@ -73,6 +70,17 @@ UASMessageHandler::~UASMessageHandler()
     clearMessages();
 }
 
+void UASMessageHandler::setToolbox(QGCToolbox *toolbox)
+{
+   QGCTool::setToolbox(toolbox);
+
+   _multiVehicleManager = _toolbox->multiVehicleManager();
+
+   connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &UASMessageHandler::_activeVehicleChanged);
+   emit textMessageReceived(NULL);
+   emit textMessageCountChanged(0);
+}
+
 void UASMessageHandler::clearMessages()
 {
     _mutex.lock();
@@ -190,7 +198,7 @@ void UASMessageHandler::handleTextMessage(int, int compId, int severity, QString
     emit textMessageCountChanged(count);
     
     if (_showErrorsInToolbar && message->severityIsError()) {
-        qgcApp()->showToolBarMessage(message->getText());
+        _app->showToolBarMessage(message->getText());
     }
 }
 

src/uas/UASMessageHandler.h

@@ -34,11 +34,12 @@ This file is part of the QGROUNDCONTROL project
 #include <QVector>
 #include <QMutex>
 
-#include "QGCSingleton.h"
 #include "Vehicle.h"
+#include "QGCToolbox.h"
 
 class UASInterface;
 class UASMessageHandler;
+class QGCApplication;
 
 /*!
  * @class UASMessage
@@ -68,7 +69,7 @@ public:
      * @return true: This message is a of a severity which is considered an error
      */
     bool severityIsError();
-    
+
 private:
     UASMessage(int componentid, int severity, QString text);
     void _setFormatedText(const QString formatedText) { _formatedText = formatedText; }
@@ -78,14 +79,14 @@ private:
     QString _formatedText;
 };
 
-class UASMessageHandler : public QGCSingleton
+class UASMessageHandler : public QGCTool
 {
     Q_OBJECT
-    DECLARE_QGC_SINGLETON(UASMessageHandler, UASMessageHandler)
     
 public:
-    explicit UASMessageHandler(QObject *parent = 0);
+    explicit UASMessageHandler(QGCApplication* app);
     ~UASMessageHandler();
+
     /**
      * @brief Locks access to the message list
      */
@@ -126,6 +127,9 @@ public:
     /// Begin to show message which are errors in the toolbar
     void showErrorsInToolbar(void) { _showErrorsInToolbar = true; }
     
+    // Override from QGCTool
+    virtual void setToolbox(QGCToolbox *toolbox);
+
 public slots:
     /**
      * @brief Handle text message from current active UAS
@@ -152,16 +156,16 @@ private slots:
     void _activeVehicleChanged(Vehicle* vehicle);
     
 private:
-    // Stores the UAS that we're currently receiving messages from.
-    UASInterface* _activeUAS;
-    QVector<UASMessage*> _messages;
-    QMutex  _mutex;
-    int     _errorCount;
-    int     _errorCountTotal;
-    int     _warningCount;
-    int     _normalCount;
-    QString _latestError;
-    bool    _showErrorsInToolbar;
+    UASInterface*           _activeUAS;
+    QVector<UASMessage*>    _messages;
+    QMutex                  _mutex;
+    int                     _errorCount;
+    int                     _errorCountTotal;
+    int                     _warningCount;
+    int                     _normalCount;
+    QString                 _latestError;
+    bool                    _showErrorsInToolbar;
+    MultiVehicleManager*    _multiVehicleManager;
 };
 
 #endif // QGCMESSAGEHANDLER_H

src/ui/MAVLinkSettingsWidget.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkSettingsWidget.h"
 #include "LinkManager.h"
 #include "UDPLink.h"
+#include "QGCApplication.h"
 #include "ui_MAVLinkSettingsWidget.h"
 #include <QSettings>
 
@@ -142,7 +143,7 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
 
     // Delete from all lists first
     UDPLink* firstUdp = NULL;
-    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
+    QList<LinkInterface*> links = qgcApp()->toolbox()->linkManager()->getLinks();
     foreach (LinkInterface* link, links)
     {
         UDPLink* udp = dynamic_cast<UDPLink*>(link);

src/ui/MainWindow.cc

@@ -210,8 +210,8 @@ MainWindow::MainWindow()
 #endif //QGC_MOUSE_ENABLED_LINUX
 
     // These also cause the screen to redraw so we need to update any OpenGL canvases in QML controls
-    connect(LinkManager::instance(), &LinkManager::linkConnected,    this, &MainWindow::_linkStateChange);
-    connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange);
+    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkConnected,    this, &MainWindow::_linkStateChange);
+    connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange);
 
     // Connect link
     if (_autoReconnect)
@@ -323,7 +323,7 @@ void MainWindow::_buildCommonWidgets(void)
 {
     // Add generic MAVLink decoder
     // TODO: This is never deleted
-    mavlinkDecoder = new MAVLinkDecoder(MAVLinkProtocol::instance(), this);
+    mavlinkDecoder = new MAVLinkDecoder(qgcApp()->toolbox()->mavlinkProtocol(), this);
     connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
                       this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
@@ -372,7 +372,7 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
     
     switch(action->data().toInt()) {
         case MAVLINK_INSPECTOR:
-            widget = new QGCMAVLinkInspector(widgetName, action, MAVLinkProtocol::instance(),this);
+            widget = new QGCMAVLinkInspector(widgetName, action, qgcApp()->toolbox()->mavlinkProtocol(),this);
             break;
         case CUSTOM_COMMAND:
             widget = new CustomCommandWidget(widgetName, action, this);
@@ -438,7 +438,7 @@ void MainWindow::showStatusBarCallback(bool checked)
 void MainWindow::closeEvent(QCloseEvent *event)
 {
     // Disallow window close if there are active connections
-    if (LinkManager::instance()->anyConnectedLinks()) {
+    if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
         QGCMessageBox::StandardButton button =
             QGCMessageBox::warning(
                 tr("QGroundControl close"),
@@ -446,7 +446,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
                 QMessageBox::Yes | QMessageBox::Cancel,
                 QMessageBox::Cancel);
         if (button == QMessageBox::Yes) {
-            LinkManager::instance()->disconnectAll();
+            qgcApp()->toolbox()->linkManager()->disconnectAll();
             // The above disconnect causes a flurry of activity as the vehicle components are removed. This in turn
             // causes the Windows Version of Qt to crash if you allow the close event to be accepted. In order to prevent
             // the crash, we ignore the close event and setup a delayed timer to close the window after things settle down.
@@ -461,7 +461,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
 
     // Should not be any active connections
-    Q_ASSERT(!LinkManager::instance()->anyConnectedLinks());
+    Q_ASSERT(!qgcApp()->toolbox()->linkManager()->anyConnectedLinks());
 
     // We have to pull out the QmlWidget from the main window and delete it here, before
     // the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow
@@ -472,7 +472,11 @@ void MainWindow::closeEvent(QCloseEvent *event)
 
     _storeCurrentViewState();
     storeSettings();
+
     event->accept();
+
+    _instance = NULL;
+    emit mainWindowClosed();
 }
 
 void MainWindow::loadSettings()
@@ -542,9 +546,9 @@ void MainWindow::connectCommonActions()
     connect(_ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(manageLinks()));
 
     // Audio output
-    _ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
-    connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), _ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
-    connect(_ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
+    _ui.actionMuteAudioOutput->setChecked(qgcApp()->toolbox()->audioOutput()->isMuted());
+    connect(qgcApp()->toolbox()->audioOutput(), SIGNAL(mutedChanged(bool)), _ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
+    connect(_ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), qgcApp()->toolbox()->audioOutput(), SLOT(mute(bool)));
 
     // Application Settings
     connect(_ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
@@ -555,7 +559,7 @@ void MainWindow::connectCommonActions()
     connect(_ui.actionSetup,    &QAction::triggered,    this, &MainWindow::showSetupView);
 
     // Connect internal actions
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
 }
 
 void MainWindow::_openUrl(const QString& url, const QString& errorMessage)
@@ -570,7 +574,7 @@ void MainWindow::_openUrl(const QString& url, const QString& errorMessage)
 
 void MainWindow::showSettings()
 {
-    SettingsDialog settings(this);
+    SettingsDialog settings(qgcApp()->toolbox()->audioOutput(), qgcApp()->toolbox()->flightMapSettings(), this);
     settings.exec();
 }
 
@@ -593,7 +597,7 @@ void MainWindow::_storeCurrentViewState(void)
 
 void MainWindow::manageLinks()
 {
-    SettingsDialog settings(this, SettingsDialog::ShowCommLinks);
+    SettingsDialog settings(qgcApp()->toolbox()->audioOutput(), qgcApp()->toolbox()->flightMapSettings(), this, SettingsDialog::ShowCommLinks);
     settings.exec();
 }
 
@@ -619,7 +623,7 @@ void MainWindow::restoreLastUsedConnection()
     if(settings.contains(key)) {
         QString connection = settings.value(key).toString();
         // Create a link for it
-        LinkManager::instance()->createConnectedLink(connection);
+        qgcApp()->toolbox()->linkManager()->createConnectedLink(connection);
     }
 }
 

src/ui/MainWindow.h

@@ -154,6 +154,9 @@ signals:
     /** Emitted when any the Canvas elements within QML wudgets need updating */
     void repaintCanvas();
 
+    // Used for unit tests to know when the main window closes
+    void mainWindowClosed(void);
+
 #ifdef QGC_MOUSE_ENABLED_LINUX
     /** @brief Forward X11Event to catch 3DMouse inputs */
     void x11EventOccured(XEvent *event);

src/ui/MultiVehicleDockWidget.cc

@@ -24,6 +24,7 @@
 #include "MultiVehicleDockWidget.h"
 #include "ui_MultiVehicleDockWidget.h"
 #include "MultiVehicleManager.h"
+#include "QGCApplication.h"
 
 MultiVehicleDockWidget::MultiVehicleDockWidget(const QString& title, QAction* action, QWidget *parent)
     : QGCDockWidget(title, action, parent)
@@ -33,19 +34,19 @@ MultiVehicleDockWidget::MultiVehicleDockWidget(const QString& title, QAction* ac
     
     setWindowTitle(title);
     
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MultiVehicleDockWidget::_activeVehicleChanged);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MultiVehicleDockWidget::_vehicleAdded);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MultiVehicleDockWidget::_vehicleRemoved);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &MultiVehicleDockWidget::_activeVehicleChanged);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &MultiVehicleDockWidget::_vehicleAdded);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &MultiVehicleDockWidget::_vehicleRemoved);
 }
 
 void MultiVehicleDockWidget::init(void)
 {
-    foreach (Vehicle* vehicle, MultiVehicleManager::instance()->vehicles()) {
+    foreach (Vehicle* vehicle, qgcApp()->toolbox()->multiVehicleManager()->vehicles()) {
         _vehicleAdded(vehicle);
     }
 
-    if (MultiVehicleManager::instance()->activeVehicle()) {
-        _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
+        _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
     }
 }
 

src/ui/QGCLinkConfiguration.cc

@@ -38,7 +38,7 @@ QGCLinkConfiguration::QGCLinkConfiguration(QWidget *parent) :
     _ui(new Ui::QGCLinkConfiguration)
 {
     // Stop automatic link updates while this UI is up
-    LinkManager::instance()->suspendConfigurationUpdates(true);
+    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
     _ui->setupUi(this);
     _viewModel = new LinkViewModel;
     _ui->linkView->setModel(_viewModel);
@@ -52,7 +52,7 @@ QGCLinkConfiguration::~QGCLinkConfiguration()
     if(_viewModel) delete _viewModel;
     if(_ui) delete _ui;
     // Resume automatic link updates
-    LinkManager::instance()->suspendConfigurationUpdates(false);
+    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
 }
 
 void QGCLinkConfiguration::on_delLinkButton_clicked()
@@ -72,13 +72,13 @@ void QGCLinkConfiguration::on_delLinkButton_clicked()
                 LinkInterface* iface = config->getLink();
                 if(iface) {
                     // Disconnect it (if connected)
-                    LinkManager::instance()->disconnectLink(iface);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(iface);
                 }
                 _viewModel->beginChange();
                 // Remove configuration
-                LinkManager::instance()->removeLinkConfiguration(config);
+                qgcApp()->toolbox()->linkManager()->removeLinkConfiguration(config);
                 // Save list
-                LinkManager::instance()->saveLinkConfigurationList();
+                qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
                 _viewModel->endChange();
             }
         }
@@ -101,10 +101,10 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
             if(link) {
                 // Disconnect Link
                 if (link->isConnected()) {
-                    LinkManager::instance()->disconnectLink(link);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(link);
                 }
             } else {
-                LinkInterface* link = LinkManager::instance()->createConnectedLink(config);
+                LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(config);
                 if(link) {
                     // Now go hunting for the parent so we can shut this down
                     QWidget* pQw = parentWidget();
@@ -186,8 +186,8 @@ void QGCLinkConfiguration::on_addLinkButton_clicked()
         if(config) {
             _fixUnnamed(config);
             _viewModel->beginChange();
-            LinkManager::instance()->addLinkConfiguration(commDialog->getConfig());
-            LinkManager::instance()->saveLinkConfigurationList();
+            qgcApp()->toolbox()->linkManager()->addLinkConfiguration(commDialog->getConfig());
+            qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
             _viewModel->endChange();
         }
     }
@@ -213,7 +213,7 @@ void QGCLinkConfiguration::_editLink(int row)
                     _viewModel->beginChange();
                     config->copyFrom(tmpConfig);
                     // Save it
-                    LinkManager::instance()->saveLinkConfigurationList();
+                    qgcApp()->toolbox()->linkManager()->saveLinkConfigurationList();
                     _viewModel->endChange();
                     // Tell link about changes (if any)
                     config->updateSettings();
@@ -261,14 +261,14 @@ LinkViewModel::LinkViewModel(QObject *parent) : QAbstractListModel(parent)
 int LinkViewModel::rowCount( const QModelIndex & parent) const
 {
     Q_UNUSED(parent);
-    QList<LinkConfiguration*> cfgList = LinkManager::instance()->getLinkConfigurationList();
+    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
     int count = cfgList.count();
     return count;
 }
 
 QVariant LinkViewModel::data( const QModelIndex & index, int role) const
 {
-    QList<LinkConfiguration*> cfgList = LinkManager::instance()->getLinkConfigurationList();
+    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
     if (role == Qt::DisplayRole && index.row() < cfgList.count()) {
         QString name(cfgList.at(index.row())->name());
         return name;
@@ -278,7 +278,7 @@ QVariant LinkViewModel::data( const QModelIndex & index, int role) const
 
 LinkConfiguration* LinkViewModel::getConfiguration(int row)
 {
-    QList<LinkConfiguration*> cfgList = LinkManager::instance()->getLinkConfigurationList();
+    QList<LinkConfiguration*> cfgList = qgcApp()->toolbox()->linkManager()->getLinkConfigurationList();
     if(row < cfgList.count()) {
         return cfgList.at(row);
     }

src/ui/QGCMAVLinkInspector.cc

@@ -4,6 +4,7 @@
 #include "QGCMAVLinkInspector.h"
 #include "MultiVehicleManager.h"
 #include "UAS.h"
+#include "QGCApplication.h"
 
 #include "ui_QGCMAVLinkInspector.h"
 
@@ -52,7 +53,7 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action,
     connect(ui->clearButton, SIGNAL(clicked()), this, SLOT(clearView()));
 
     // Connect external connections
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &QGCMAVLinkInspector::_vehicleAdded);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &QGCMAVLinkInspector::_vehicleAdded);
     connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
 
     // Attach the UI's refresh rate to a timer.
@@ -101,7 +102,7 @@ void QGCMAVLinkInspector::rebuildComponentList()
     ui->componentComboBox->addItem(tr("All"), 0);
 
     // Fill
-    Vehicle* vehicle = MultiVehicleManager::instance()->getVehicleById(selectedSystemID);
+    Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(selectedSystemID);
     if (vehicle)
     {
         UASInterface* uas = vehicle->uas();
@@ -334,7 +335,7 @@ void QGCMAVLinkInspector::addUAStoTree(int sysId)
     if(!uasTreeWidgetItems.contains(sysId))
     {
         // Add the UAS to the main tree after it has been created
-        Vehicle* vehicle = MultiVehicleManager::instance()->getVehicleById(sysId);
+        Vehicle* vehicle = qgcApp()->toolbox()->multiVehicleManager()->getVehicleById(sysId);
         if (vehicle)
         {
             UASInterface* uas = vehicle->uas();

src/ui/QGCMAVLinkLogPlayer.cc

@@ -60,7 +60,7 @@ void QGCMAVLinkLogPlayer::_pause(void)
 void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
 {
     // Disallow replay when any links are connected
-    if (LinkManager::instance()->anyConnectedLinks()) {
+    if (qgcApp()->toolbox()->linkManager()->anyConnectedLinks()) {
         QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
         return;
     }
@@ -81,7 +81,7 @@ void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
     linkConfig->setLogFilename(logFilename);
     linkConfig->setName(linkConfig->logFilenameShort());
     _ui->logFileNameLabel->setText(linkConfig->logFilenameShort());
-    _replayLink = (LogReplayLink*)LinkManager::instance()->createConnectedLink(linkConfig);
+    _replayLink = (LogReplayLink*)qgcApp()->toolbox()->linkManager()->createConnectedLink(linkConfig);
     
     connect(_replayLink, &LogReplayLink::logFileStats, this, &QGCMAVLinkLogPlayer::_logFileStats);
     connect(_replayLink, &LogReplayLink::playbackStarted, this, &QGCMAVLinkLogPlayer::_playbackStarted);

src/ui/QGCMapRCToParamDialog.cpp

@@ -26,7 +26,6 @@
 
 #include "QGCMapRCToParamDialog.h"
 #include "ui_QGCMapRCToParamDialog.h"
-#include "MultiVehicleManager.h"
 
 #include <QDebug>
 #include <QTimer>
@@ -34,11 +33,12 @@
 #include <QShowEvent>
 #include <QPushButton>
 
-QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav, QWidget *parent) :
-    QDialog(parent),
-    param_id(param_id),
-    mav(mav),
-    ui(new Ui::QGCMapRCToParamDialog)
+QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent)
+    : QDialog(parent)
+    , param_id(param_id)
+    , mav(mav)
+    , _multiVehicleManager(multiVehicleManager)
+    , ui(new Ui::QGCMapRCToParamDialog)
 {
     ui->setupUi(this);
     
@@ -49,7 +49,7 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->paramIdLabel->setText(param_id);
 
     // refresh the parameter from onboard to make sure the current value is used
-    AutoPilotPlugin* autopilot = MultiVehicleManager::instance()->getVehicleById(mav->getUASID())->autopilotPlugin();
+    AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin();
     Q_ASSERT(autopilot);
     connect(autopilot->getParameterFact(FactSystem::defaultComponentId, param_id), &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
     autopilot->refreshParameter(FactSystem::defaultComponentId, param_id);

src/ui/QGCMapRCToParamDialog.h

@@ -33,6 +33,7 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
+#include "MultiVehicleManager.h"
 
 namespace Ui {
 class QGCMapRCToParamDialog;
@@ -46,7 +47,7 @@ class QGCMapRCToParamDialog : public QDialog
     QThread paramLoadThread;
 
 public:
-    explicit QGCMapRCToParamDialog(QString param_id, UASInterface *mav, QWidget *parent = 0);
+    explicit QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent = 0);
     ~QGCMapRCToParamDialog();
 
 signals:
@@ -65,7 +66,8 @@ private slots:
     void _parameterUpdated(QVariant value);
 
 private:
-    Ui::QGCMapRCToParamDialog *ui;
+    MultiVehicleManager*        _multiVehicleManager;
+    Ui::QGCMapRCToParamDialog*  ui;
 };
 
 #endif // QGCMAPRCTOPARAMDIALOG_H

src/ui/QGCTabbedInfoView.cpp

 #include "QGCTabbedInfoView.h"
+#include "QGCApplication.h"
 
 QGCTabbedInfoView::QGCTabbedInfoView(const QString& title, QAction* action, QWidget *parent)
     : QGCDockWidget(title, action, parent)
 {
     ui.setupUi(this);
-    messageView = new UASMessageViewWidget(this);
+    messageView = new UASMessageViewWidget(qgcApp()->toolbox()->uasMessageHandler(), this);
     //actionsWidget = new UASActionsWidget(this);
     quickView = new UASQuickView(this);
     //rawView = new UASRawStatusView(this);

src/ui/QGCUASFileViewMulti.cc

@@ -3,6 +3,7 @@
 #include "UASInterface.h"
 #include "MultiVehicleManager.h"
 #include "QGCUASFileView.h"
+#include "QGCApplication.h"
 
 QGCUASFileViewMulti::QGCUASFileViewMulti(const QString& title, QAction* action, QWidget *parent) :
     QGCDockWidget(title, action, parent),
@@ -10,13 +11,13 @@ QGCUASFileViewMulti::QGCUASFileViewMulti(const QString& title, QAction* action,
 {
     ui->setupUi(this);
     setMinimumSize(600, 80);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &QGCUASFileViewMulti::_activeVehicleChanged);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &QGCUASFileViewMulti::_vehicleAdded);
-    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &QGCUASFileViewMulti::_vehicleRemoved);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleChanged, this, &QGCUASFileViewMulti::_activeVehicleChanged);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &QGCUASFileViewMulti::_vehicleAdded);
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &QGCUASFileViewMulti::_vehicleRemoved);
 
-    if (MultiVehicleManager::instance()->activeVehicle()) {
-        _vehicleAdded(MultiVehicleManager::instance()->activeVehicle());
-        _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
+        _vehicleAdded(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
+        _activeVehicleChanged(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle());
     }
     
     loadSettings();

src/ui/SettingsDialog.cc

@@ -39,10 +39,12 @@
 #include "MainToolBarController.h"
 #include "FlightMapSettings.h"
 
-SettingsDialog::SettingsDialog(QWidget *parent, int showTab, Qt::WindowFlags flags) :
-QDialog(parent, flags),
-_mainWindow(MainWindow::instance()),
-_ui(new Ui::SettingsDialog)
+SettingsDialog::SettingsDialog(GAudioOutput* audioOutput, FlightMapSettings* flightMapSettings, QWidget *parent, int showTab, Qt::WindowFlags flags)
+    : QDialog(parent, flags)
+    , _mainWindow(MainWindow::instance())
+    , _audioOutput(audioOutput)
+    , _flightMapSettings(flightMapSettings)
+    , _ui(new Ui::SettingsDialog)
 {
     _ui->setupUi(this);
 
@@ -55,7 +57,7 @@ _ui(new Ui::SettingsDialog)
     move(position.topLeft());
 
     QGCLinkConfiguration*  pLinkConf     = new QGCLinkConfiguration(this);
-    MAVLinkSettingsWidget* pMavsettings  = new MAVLinkSettingsWidget(MAVLinkProtocol::instance(), this);
+    MAVLinkSettingsWidget* pMavsettings  = new MAVLinkSettingsWidget(qgcApp()->toolbox()->mavlinkProtocol(), this);
 
     // Add the link settings pane
     _ui->tabWidget->addTab(pLinkConf,     "Comm Links");
@@ -65,9 +67,9 @@ _ui(new Ui::SettingsDialog)
     this->window()->setWindowTitle(tr("QGroundControl Settings"));
 
     // Audio preferences
-    _ui->audioMuteCheckBox->setChecked(GAudioOutput::instance()->isMuted());
-    connect(_ui->audioMuteCheckBox, SIGNAL(toggled(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
-    connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), _ui->audioMuteCheckBox, SLOT(setChecked(bool)));
+    _ui->audioMuteCheckBox->setChecked(_audioOutput->isMuted());
+    connect(_ui->audioMuteCheckBox, SIGNAL(toggled(bool)), _audioOutput, SLOT(mute(bool)));
+    connect(_audioOutput, SIGNAL(mutedChanged(bool)), _ui->audioMuteCheckBox, SLOT(setChecked(bool)));
 
     // Reconnect
     _ui->reconnectCheckBox->setChecked(_mainWindow->autoReconnectEnabled());
@@ -92,7 +94,7 @@ _ui(new Ui::SettingsDialog)
     
     // Flight Map settings
     
-    FlightMapSettings* fmSettings = FlightMapSettings::instance();
+    FlightMapSettings* fmSettings = _flightMapSettings;
     _ui->bingMapRadio->setChecked(fmSettings->mapProvider() == "Bing");
     _ui->googleMapRadio->setChecked(fmSettings->mapProvider() == "Google");
     _ui->openMapRadio->setChecked(fmSettings->mapProvider() == "Open");
@@ -178,20 +180,20 @@ void SettingsDialog::_selectSavedFilesDirectory(void)
 void SettingsDialog::_bingMapRadioClicked(bool checked)
 {
     if (checked) {
-        FlightMapSettings::instance()->setMapProvider("Bing");
+        _flightMapSettings->setMapProvider("Bing");
     }
 }
 
 void SettingsDialog::_googleMapRadioClicked(bool checked)
 {
     if (checked) {
-        FlightMapSettings::instance()->setMapProvider("Google");
+        _flightMapSettings->setMapProvider("Google");
     }
 }
 
 void SettingsDialog::_openMapRadioClicked(bool checked)
 {
     if (checked) {
-        FlightMapSettings::instance()->setMapProvider("Open");
+        _flightMapSettings->setMapProvider("Open");
     }
 }

src/ui/SettingsDialog.h

@@ -25,7 +25,10 @@
 #define SETTINGSDIALOG_H
 
 #include <QDialog>
+
 #include "MainWindow.h"
+#include "GAudioOutput.h"
+#include "FlightMapSettings.h"
 
 namespace Ui
 {
@@ -45,7 +48,7 @@ public:
         ShowMavlink
     };
 
-    SettingsDialog(QWidget *parent = 0, int showTab = ShowDefault, Qt::WindowFlags flags = Qt::Sheet);
+    SettingsDialog(GAudioOutput* audioOuput, FlightMapSettings* flightMapSettings, QWidget *parent = 0, int showTab = ShowDefault, Qt::WindowFlags flags = Qt::Sheet);
     ~SettingsDialog();
 
 public slots:
@@ -62,6 +65,8 @@ private slots:
 
 private:
     MainWindow*         _mainWindow;
+    GAudioOutput*       _audioOutput;
+    FlightMapSettings*  _flightMapSettings;
     Ui::SettingsDialog* _ui;
 };