Merge pull request #330 from tstellanova/mvc_decoupling

MVC decoupling of parameters-handling code

libs/eigen/Eigen/src/Core/BandMatrix.h

@@ -285,6 +285,7 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
       //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
+        cols=0; //workaround for compiler warning
     }
 
     /** \returns the number of columns */

qgroundcontrol.pro

@@ -468,7 +468,10 @@ HEADERS += src/MG.h \
     src/ui/configuration/SerialSettingsDialog.h \
     src/ui/configuration/terminalconsole.h \
     src/ui/configuration/ApmHighlighter.h \
-    src/ui/configuration/ApmFirmwareConfig.h
+    src/ui/configuration/ApmFirmwareConfig.h \
+    src/uas/UASParameterDataModel.h \
+    src/uas/UASParameterCommsMgr.h \
+    src/ui/QGCPendingParamWidget.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -683,7 +686,10 @@ SOURCES += src/main.cc \
     src/ui/configuration/console.cpp \
     src/ui/configuration/SerialSettingsDialog.cc \
     src/ui/configuration/ApmHighlighter.cc \
-    src/ui/configuration/ApmFirmwareConfig.cc
+    src/ui/configuration/ApmFirmwareConfig.cc \
+    src/uas/UASParameterDataModel.cc \
+    src/uas/UASParameterCommsMgr.cc \
+    src/ui/QGCPendingParamWidget.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/comm/SerialLink.cc

@@ -176,7 +176,9 @@ void SerialLink::run()
         }
 
         if (isConnected() && (linkErrorCount > 100)) {
+            qDebug() << "linkErrorCount too high: disconnecting!";
             linkErrorCount = 0;
+            communicationError("SerialLink", tr("Disconnecting on too many link errors"));
             disconnect();
         }
 
@@ -210,7 +212,7 @@ void SerialLink::run()
             }
         } else {
             linkErrorCount++;
-            qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
+            //qDebug() << "Wait read response timeout" << QTime::currentTime().toString();
         }
 
         if (bytes != m_bytesRead) // i.e things are good and data is being read.
@@ -370,6 +372,8 @@ bool SerialLink::disconnect()
         return true;
     }
 
+    m_transmitBuffer.clear(); //clear the output buffer to avoid sending garbage at next connect
+
     qDebug() << "already disconnected";
     return true;
 }

src/uas/QGCUASParamManager.cc

 #include "QGCUASParamManager.h"
+
+#include <QApplication>>
+#include <QDir>
+
 #include "UASInterface.h"
+#include "UASParameterCommsMgr.h"
 
 QGCUASParamManager::QGCUASParamManager(UASInterface* uas, QWidget *parent) :
     QWidget(parent),
     mav(uas),
-    transmissionListMode(false),
-    transmissionActive(false),
-    transmissionTimeout(0),
-    retransmissionTimeout(350),
-    rewriteTimeout(500),
-    retransmissionBurstRequestSize(5)
+    paramDataModel(NULL),
+    paramCommsMgr(NULL)
+{
+    paramDataModel = uas->getParamDataModel();
+    paramCommsMgr = uas->getParamCommsMgr();
+    mav->setParamManager(this);
+
+    // Load default values and tooltips
+    loadParamMetaInfoCSV();
+}
+
+
+bool QGCUASParamManager::getParameterValue(int component, const QString& parameter, QVariant& value) const
+{
+    return paramDataModel->getOnboardParamValue(component,parameter,value);
+}
+
+
+void QGCUASParamManager::requestParameterUpdate(int component, const QString& parameter)
 {
-    uas->setParamManager(this);
+    if (mav) {
+        paramCommsMgr->requestParameterUpdate(component,parameter);
+    }
 }
 
 
+
 /**
- * The .. signal is emitted
+ * Send a request to deliver the list of onboard parameters
+ * to the MAV.
  */
-void QGCUASParamManager::requestParameterListUpdate(int component)
+void QGCUASParamManager::requestParameterList()
+{
+    if (!mav) {
+        return;
+    }
+    //paramDataModel->forgetAllOnboardParameters(); //TODO really??
+    setParameterStatusMsg(tr("Requested param list.. waiting"));
+    paramCommsMgr->requestParameterList();
+}
+
+
+void QGCUASParamManager::setParameterStatusMsg(const QString& msg)
 {
-	Q_UNUSED(component);
+    qDebug() << "parameterStatusMsg: " << msg;
+    parameterStatusMsg = msg;
 }
 
+void QGCUASParamManager::setParamDescriptions(const QMap<QString,QString>& paramInfo) {
+    paramDataModel->setParamDescriptions(paramInfo);
+}
+
+
+void QGCUASParamManager::setParameter(int compId, QString paramName, QVariant value)
+{
+    //paramCommsMgr->setParameter(compId,paramName,value);
+    paramDataModel->updatePendingParamWithValue(compId,paramName,value);
+}
 
+void QGCUASParamManager::sendPendingParameters()
+{
+    paramCommsMgr->sendPendingParameters();
+}
+
+void QGCUASParamManager::setPendingParam(int compId,  QString& paramName,  const QVariant& value)
+{
+    paramDataModel->updatePendingParamWithValue(compId,paramName,value);
+}
+
+
+
+void QGCUASParamManager::loadParamMetaInfoCSV()
+{
+    // Load default values and tooltips
+    QString autopilot(mav->getAutopilotTypeName());
+
+    QDir appDir = QApplication::applicationDirPath();
+    appDir.cd("files");
+    QString fileName = QString("%1/%2/parameter_tooltips/tooltips.txt").arg(appDir.canonicalPath()).arg(autopilot.toLower());
+    QFile paramMetaFile(fileName);
+
+    qDebug() << "loadParamMetaInfoCSV for autopilot: " << autopilot << " from file: " << fileName;
+
+    if (!paramMetaFile.open(QIODevice::ReadOnly | QIODevice::Text))  {
+        qWarning() << "loadParamMetaInfoCSV couldn't open:" << fileName;
+        return;
+    }
+
+    QTextStream in(&paramMetaFile);
+    paramDataModel->loadParamMetaInfoFromStream(in);
+    paramMetaFile.close();
+
+}
+
+/**
+ * @return The MAV of this mgr. Unless the MAV object has been destroyed, this
+ *         pointer is never zero.
+ */
+UASInterface* QGCUASParamManager::getUAS()
+{
+    return mav;
+}

src/uas/QGCUASParamManager.h

@@ -6,7 +6,10 @@
 #include <QTimer>
 #include <QVariant>
 
+//forward declarations
 class UASInterface;
+class UASParameterCommsMgr;
+class UASParameterDataModel;
 
 class QGCUASParamManager : public QWidget
 {
@@ -14,68 +17,56 @@ class QGCUASParamManager : public QWidget
 public:
     QGCUASParamManager(UASInterface* uas, QWidget *parent = 0);
 
-    QList<QString> getParameterNames(int component) const {
-        return parameters.value(component)->keys();
-    }
-    QList<QVariant> getParameterValues(int component) const {
-        return parameters.value(component)->values();
-    }
-    bool getParameterValue(int component, const QString& parameter, QVariant& value) const {
-        if (!parameters.contains(component))
-        {
-            return false;
-        }
-
-        if (!parameters.value(component)->contains(parameter))
-        {
-            return false;
-        }
-
-        value = parameters.value(component)->value(parameter);
-
-        return true;
-    }
-
-    virtual bool isParamMinKnown(const QString& param) = 0;
-    virtual bool isParamMaxKnown(const QString& param) = 0;
-    virtual bool isParamDefaultKnown(const QString& param) = 0;
-    virtual double getParamMin(const QString& param) = 0;
-    virtual double getParamMax(const QString& param) = 0;
-    virtual double getParamDefault(const QString& param) = 0;
-    virtual QString getParamInfo(const QString& param) = 0;
-    virtual void setParamInfo(const QMap<QString,QString>& param) = 0;
-
-    /** @brief Request an update for the parameter list */
-    void requestParameterListUpdate(int component = 0);
-    /** @brief Request an update for this specific parameter */
-    virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
+    /** @brief Get the known, confirmed value of a parameter */
+    virtual bool getParameterValue(int component, const QString& parameter, QVariant& value) const;
+
+    /** @brief Provide tooltips / user-visible descriptions for parameters */
+    virtual void setParamDescriptions(const QMap<QString,QString>& paramDescs);
+
+    /** @brief Get the UAS of this widget
+     * @return The MAV of this mgr. Unless the MAV object has been destroyed, this is never null.
+     */
+    UASInterface* getUAS();
+
+protected:
+    //TODO decouple this UI message display further?
+    virtual void setParameterStatusMsg(const QString& msg);
+    /** @brief Load parameter meta information from appropriate CSV file */
+    virtual void loadParamMetaInfoCSV();
+
 
 signals:
     void parameterChanged(int component, QString parameter, QVariant value);
     void parameterChanged(int component, int parameterIndex, QVariant value);
-    void parameterListUpToDate(int component);
 
 public slots:
-    /** @brief Write one parameter to the MAV */
-    virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
+    /** @brief Send one parameter to the MAV: changes value in transient memory of MAV */
+    virtual void setParameter(int component, QString parameterName, QVariant value);
+
+    /** @brief Send all pending parameters to the MAV, for storage in transient (RAM) memory */
+    virtual void sendPendingParameters();
+
     /** @brief Request list of parameters from MAV */
-    virtual void requestParameterList() = 0;
+    virtual void requestParameterList();
+
+    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+
+    /** @brief Request a single parameter by name from the MAV */
+    virtual void requestParameterUpdate(int component, const QString& parameter);
+
+    virtual void handleParameterUpdate(int component, const QString& parameterName, QVariant value) = 0;
+    virtual void handleParameterListUpToDate() = 0;
+
 
 protected:
-    UASInterface* mav;   ///< The MAV this widget is controlling
-    QMap<int, QMap<QString, QVariant>* > changedValues; ///< Changed values
-    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
-    QVector<bool> received; ///< Successfully received parameters
-    QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
-    bool transmissionListMode;       ///< Currently requesting list
-    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
-    bool transmissionActive;         ///< Missing packets, working on list?
-    quint64 transmissionTimeout;     ///< Timeout
-    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
-    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
-    int rewriteTimeout; ///< Write request timeout, in milliseconds
-    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
+
+    // Parameter data model
+    UASInterface*           mav;   ///< The MAV this manager is controlling
+    UASParameterDataModel*  paramDataModel;///< Shared data model of parameters
+    UASParameterCommsMgr*   paramCommsMgr; ///< Shared comms mgr for parameters
+
+    // Status
+    QString parameterStatusMsg;
 
 };
 

src/uas/UAS.cc

@@ -26,6 +26,7 @@
 #include "QGCMAVLink.h"
 #include "LinkManager.h"
 #include "SerialLink.h"
+#include "UASParameterCommsMgr.h"
 #include <Eigen/Geometry>
 
 #ifdef QGC_PROTOBUF_ENABLED
@@ -131,6 +132,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 
     paramsOnceRequested(false),
     paramManager(NULL),
+    paramDataModel(NULL),
+    paramCommsMgr(NULL),
 
     simulation(0),
 
@@ -151,6 +154,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         componentMulti[i] = false;
     }
 
+    paramDataModel = new UASParameterDataModel(this);
+    paramDataModel->setUASID(this->getUASID());
+
+    paramCommsMgr = new UASParameterCommsMgr(this,this);
+
     // Store a list of available actions for this UAS.
     // Basically everything exposted as a SLOT with no return value or arguments.
 
@@ -226,6 +234,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 */
 UAS::~UAS()
 {
+    delete paramCommsMgr;
+    delete paramDataModel;
     writeSettings();
     delete links;
     delete statusTimeout;
@@ -1991,7 +2001,7 @@ void UAS::sendMessage(mavlink_message_t message)
         if (LinkManager::instance()->getLinks().contains(link))
         {
             sendMessage(link, message);
-            qDebug() << "SENT MESSAGE!";
+            qDebug() << "SENT MESSAGE id" << message.msgid << "component" << message.compid;
         }
         else
         {
@@ -2021,8 +2031,10 @@ void UAS::forwardMessage(mavlink_message_t message)
                 {
                     if(serial != links->at(i))
                     {
-                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
-                        sendMessage(serial, message);
+                        if (link->isConnected()) {
+                            qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
+                            sendMessage(serial, message);
+                        }
                     }
                 }
             }
@@ -2247,7 +2259,9 @@ void UAS::requestParameters()
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
     sendMessage(msg);
-    qDebug() << __FILE__ << ":" << __LINE__ << "LOADING PARAM LIST";
+
+    QDateTime time = QDateTime::currentDateTime();
+    qDebug() << __FILE__ << ":" << __LINE__ << time.toString() << "LOADING PARAM LIST";
 }
 
 void UAS::writeParametersToStorage()
@@ -2533,7 +2547,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
         if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
         {
-            switch (value.type())
+            switch ((int)value.type())
             {
             case QVariant::Char:
                 union_value.param_float = (unsigned char)value.toChar().toAscii();
@@ -2558,7 +2572,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         }
         else
         {
-            switch (value.type())
+            switch ((int)value.type())
             {
             case QVariant::Char:
                 union_value.param_int8 = (unsigned char)value.toChar().toAscii();

src/uas/UAS.h

@@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCJSBSimLink.h"
 #include "QGCXPlaneLink.h"
 
+
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
  *
@@ -492,6 +493,8 @@ protected: //COMMENTS FOR TEST UNIT
     QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     bool paramsOnceRequested;       ///< If the parameter list has been read at least once
     QGCUASParamManager* paramManager; ///< Parameter manager class
+    UASParameterDataModel* paramDataModel; ///< The parameter data model for this UAS
+    UASParameterCommsMgr* paramCommsMgr;
 
     /// SIMULATION
     QGCHilLink* simulation;         ///< Hardware in the loop simulation link
@@ -519,10 +522,24 @@ public:
     QGCUASParamManager* getParamManager() const {
         return paramManager;
     }
+
+    /** @brief Get reference to the parameter data model (same one shared with the parameter manager)  **/
+    UASParameterDataModel* getParamDataModel() {
+        return paramDataModel;
+    }
+
+    UASParameterCommsMgr* getParamCommsMgr() {
+        return paramCommsMgr;
+    }
+
+
     /** @brief Get the HIL simulation */
     QGCHilLink* getHILSimulation() const {
         return simulation;
     }
+
+
+
     // TODO Will be removed
     /** @brief Set reference to the param manager **/
     void setParamManager(QGCUASParamManager* manager) {
@@ -949,6 +966,7 @@ protected:
     quint64 lastSendTimeSensors;
     QList<QAction*> actions; ///< A list of actions that this UAS can perform.
 
+
 protected slots:
     /** @brief Write settings to disk */
     void writeSettings();

src/uas/UASInterface.h

@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "LinkInterface.h"
 #include "ProtocolInterface.h"
+#include "UASParameterDataModel.h"
 #include "UASWaypointManager.h"
 #include "QGCUASParamManager.h"
 #include "RadioCalibration/RadioCalibrationData.h"
@@ -152,8 +153,16 @@ public:
 
     /** @brief Get reference to the waypoint manager **/
     virtual UASWaypointManager* getWaypointManager(void) = 0;
+
+    /** @brief Access the parameter data model for this UAS (sans widget).  This is the same parameter data model used by the parameter manager. **/
+    virtual UASParameterDataModel* getParamDataModel() = 0;
+
+
+    virtual UASParameterCommsMgr* getParamCommsMgr() = 0;
+
     /** @brief Get reference to the param manager **/
     virtual QGCUASParamManager* getParamManager() const = 0;
+
     // TODO Will be removed
     /** @brief Set reference to the param manager **/
     virtual void setParamManager(QGCUASParamManager* manager) = 0;

src/uas/UASManager.cc

@@ -280,6 +280,7 @@ void UASManager::addUAS(UASInterface* uas)
     // Only execute if there is no UAS at this index
     if (!systems.contains(uas))
     {
+        qDebug() << "Add new UAS: " << uas->getUASID();
         systems.append(uas);
         // Set home position on UAV if set in UI
         // - this is done on a per-UAV basis

src/uas/UASParameterCommsMgr.h

+#ifndef UASPARAMETERCOMMSMGR_H
+#define UASPARAMETERCOMMSMGR_H
+
+#include <QObject>
+#include <QMap>
+#include <QTimer>
+#include <QVariant>
+#include <QVector>
+
+class UASInterface;
+class UASParameterDataModel;
+
+
+
+class UASParameterCommsMgr : public QObject
+{
+    Q_OBJECT
+
+
+public:
+    explicit UASParameterCommsMgr(QObject *parent = 0, UASInterface* uas = NULL);
+    ~UASParameterCommsMgr();
+
+    typedef enum ParamCommsStatusLevel {
+        ParamCommsStatusLevel_OK = 0,
+        ParamCommsStatusLevel_Warning = 2,
+        ParamCommsStatusLevel_Error = 4,
+        ParamCommsStatusLevel_Count
+    } ParamCommsStatusLevel_t;
+
+
+protected:
+    /** @brief Activate / deactivate parameter retransmission */
+    virtual void setRetransmissionGuardEnabled(bool enabled);
+
+    virtual void setParameterStatusMsg(const QString& msg, ParamCommsStatusLevel_t level=ParamCommsStatusLevel_OK);
+
+    /** @brief Load settings that control eg retransmission timeouts */
+    void loadParamCommsSettings();
+
+    /** @brief clear transmissionMissingPackets and transmissionMissingWriteAckPackets */
+    void clearRetransmissionLists(int& missingReadCount, int& missingWriteCount );
+
+    void resendReadWriteRequests();
+    void resetAfterListReceive();
+
+    void emitPendingParameterCommit(int compId, const QString& key, QVariant& value);
+
+signals:
+    void commitPendingParameter(int component, QString parameter, QVariant value);
+    void parameterChanged(int component, int parameterIndex, QVariant value);
+    void parameterValueConfirmed(int uas, int component,int paramCount, int paramId, QString parameter, QVariant value);
+
+    /** @brief We have received a complete list of all parameters onboard the MAV */
+    void parameterListUpToDate();
+
+    void parameterUpdateRequested(int component, const QString& parameter);
+    void parameterUpdateRequestedById(int componentId, int paramId);
+
+    /** @brief We updated the parameter status message */
+    void parameterStatusMsgUpdated(QString msg, int level);
+
+public slots:
+    /** @brief  Iterate through all components, through all pending parameters and send them to UAS */
+    virtual void sendPendingParameters();
+
+    /** @brief  Write the current onboard parameters from transient RAM into persistent storage, e.g. EEPROM or harddisk */
+    virtual void writeParamsToPersistentStorage();
+
+    /** @brief Write one parameter to the MAV */
+    virtual void setParameter(int component, QString parameterName, QVariant value);
+
+    /** @brief Request list of parameters from MAV */
+    virtual void requestParameterList();
+
+    /** @brief Check for missing parameters */
+    virtual void retransmissionGuardTick();
+
+    /** @brief Request a single parameter update by name */
+    virtual void requestParameterUpdate(int component, const QString& parameter);
+
+    /** @brief Request an update of RC parameters */
+    virtual void requestRcCalibrationParamsUpdate();
+
+    virtual void receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value);
+
+protected:
+
+    UASInterface* mav;   ///< The MAV we're talking to
+
+    UASParameterDataModel* paramDataModel;
+
+    // Communications management
+    QVector<bool> receivedParamsList; ///< Successfully received parameters
+    QMap<int, QList<int>* > missingReadPackets; ///< Missing packets
+    QMap<int, QMap<QString, QVariant>* > missingWriteAckPackets; ///< Missing write ACK packets
+    bool transmissionListMode;       ///< Currently requesting list
+    QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
+    bool transmissionActive;         ///< Missing packets, working on list?
+    quint64 transmissionTimeout;     ///< Timeout
+    QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
+    quint64 lastTimerReset;     ///< Last time the guard timer was reset, to prevent premature firing
+    int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
+    int rewriteTimeout; ///< Write request timeout, in milliseconds
+    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
+    quint64 listRecvTimeout;     ///< How long to wait for first parameter list response before re-requesting
+
+    // Status
+    QString parameterStatusMsg;
+
+};
+    
+
+#endif // UASPARAMETERCOMMSMGR_H

src/uas/UASParameterDataModel.h

+#ifndef UASPARAMETERDATAMODEL_H
+#define UASPARAMETERDATAMODEL_H
+
+#include <QMap>
+#include <QObject>
+#include <QVariant>
+
+class QTextStream;
+
+class UASParameterDataModel : public QObject
+{
+    Q_OBJECT
+public:
+    explicit UASParameterDataModel(QObject *parent = 0);
+    
+
+    //Parameter meta info
+    bool isParamMinKnown(const QString& param) { return paramMin.contains(param); }
+    virtual bool isValueLessThanParamMin(const QString& param, double dblVal);
+
+    bool isParamMaxKnown(const QString& param) { return paramMax.contains(param); }
+    virtual bool isValueGreaterThanParamMax(const QString& param, double dblVal);
+
+    bool isParamDefaultKnown(const QString& param) { return paramDefault.contains(param); }
+    double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); }
+    double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
+    double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
+    virtual QString getParamDescription(const QString& param) { return paramDescriptions.value(param, ""); }
+    virtual void setParamDescriptions(const QMap<QString,QString>& paramInfo);
+
+    //TODO make this method protected?
+     /** @brief Ensure that the data model is aware of this component
+      * @param compId Id of the component
+      */
+    virtual void addComponent(int compId);
+
+
+
+    /** @brief Save the onboard parameter with a the type specified in the QVariant as fixed */
+    virtual void setOnboardParamWithType(int componentId, QString& key, QVariant& value);
+
+    /** @brief clears every parameter for every loaded component */
+    virtual void forgetAllOnboardParams();
+
+
+    /** @brief add this parameter to pending list iff it has changed from onboard value
+     * @return true if the parameter is now pending
+    */
+    virtual bool updatePendingParamWithValue(int componentId, QString& key,  const QVariant &value);
+    virtual void handleParamUpdate(int componentId, QString& key, QVariant& value);
+    virtual bool getOnboardParamValue(int componentId, const QString& key, QVariant& value) const;
+
+    virtual bool isParamChangePending(int componentId,const QString& key);
+
+    QMap<QString , QVariant>* getPendingParamsForComponent(int componentId) {
+        return pendingParameters.value(componentId);
+    }
+
+    QMap<QString , QVariant>* getOnboardParamsForComponent(int componentId) {
+        return onboardParameters.value(componentId);
+    }
+
+    QMap<int, QMap<QString, QVariant>* >*  getAllPendingParams() {
+       return &pendingParameters;
+   }
+
+    QMap<int, QMap<QString, QVariant>* >* getAllOnboardParams() {
+       return &onboardParameters;
+   }
+
+    /** @brief return a count of all pending parameters */
+    int countPendingParams();
+
+
+    virtual void writeOnboardParamsToStream(QTextStream &stream, const QString& uasName);
+    virtual void readUpdateParamsFromStream(QTextStream &stream);
+
+    virtual void loadParamMetaInfoFromStream(QTextStream& stream);
+
+    void setUASID(int anId) {  this->uasId = anId; }
+
+protected:
+    /** @brief set the confirmed value of a parameter in the onboard params list */
+    virtual void setOnboardParam(int componentId, QString& key, const QVariant& value);
+
+    /** @brief Write a new pending parameter value that may be eventually sent to the UAS */
+    virtual void setPendingParam(int componentId,  QString& key,  const QVariant& value);
+    /** @brief remove a parameter from the pending list */
+    virtual void removePendingParam(int compId, QString& key);
+
+
+signals:
+    
+    /** @brief We've received an update of a parameter's value */
+    void parameterUpdated(int compId, QString paramName, QVariant value);
+
+    /** @brief Notifies listeners that a param was added to or removed from the pending list */
+    void pendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+
+    void allPendingParamsCommitted(); ///< All pending params have been committed to the MAV
+
+public slots:
+
+
+protected:
+    int     uasId; ///< The UAS / MAV to which this data model pertains
+    QMap<int, QMap<QString, QVariant>* > pendingParameters; ///< Changed values that have not yet been transmitted to the UAS, by component ID
+    QMap<int, QMap<QString, QVariant>* > onboardParameters; ///< All parameters confirmed to be stored onboard the UAS, by component ID
+
+    // Tooltip data structures
+    QMap<QString, QString> paramDescriptions; ///< Tooltip values
+
+    // Min / Default / Max data structures
+    QMap<QString, double> paramMin; ///< Minimum param values
+    QMap<QString, double> paramDefault; ///< Default param values
+    QMap<QString, double> paramMax; ///< Minimum param values
+
+    
+};
+
+#endif // UASPARAMETERDATAMODEL_H

src/uas/UASWaypointManager.cc

@@ -975,7 +975,9 @@ void UASWaypointManager::sendWaypointRequestList()
     wprl.target_system = uasid;
     wprl.target_component = MAV_COMP_ID_MISSIONPLANNER;
 
-    emit updateStatusString(QString("Requesting waypoint list..."));
+    QString statusMsg(tr("Requesting waypoint list..."));
+    qDebug() << __FILE__ << __LINE__ << statusMsg;
+    emit updateStatusString(statusMsg);
 
     mavlink_msg_mission_request_list_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wprl);
     uas->sendMessage(message);

src/ui/HSIDisplay.cc

@@ -950,35 +950,60 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
 
     if (uas)
     {
-        connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
-        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
-        connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
-        connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
-        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
-
-        connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
-        connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
-        connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
-        connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
-
-        connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
-        connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
-        connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
-        connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
-        connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
-
-        connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
-        connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)),
+                this, SLOT(updateSatellite(int,int,float,float,float,bool)));
+        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),
+                this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)),
+                this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)),
+                this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)),
+                this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
+        connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
+                this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
+        connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)),
+                this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),
+                this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeControlEnabled(bool)),
+                this, SLOT(updateAttitudeControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionXYControlEnabled(bool)),
+                this, SLOT(updatePositionXYControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionZControlEnabled(bool)),
+                this, SLOT(updatePositionZControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionYawControlEnabled(bool)),
+                this, SLOT(updatePositionYawControllerEnabled(bool)));
+
+        connect(uas, SIGNAL(localizationChanged(UASInterface*,int)),
+                this, SLOT(updateLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)),
+                this, SLOT(updateVisionLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)),
+                this, SLOT(updateGpsLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)),
+                this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)),
+                this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
+
+        connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)),
+                this, SLOT(updateGyroStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)),
+                this, SLOT(updateAccelStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)),
+                this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)),
+                this, SLOT(updateBaroStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)),
+                this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)),
+                this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)),
+                this, SLOT(updateLaserStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)),
+                this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)),
+                this, SLOT(updateActuatorStatus(bool,bool,bool)));
         statusClearTimer.start(3000);
     }
     else

src/ui/ParameterInterface.cc

@@ -72,6 +72,7 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
 
 ParameterInterface::~ParameterInterface()
 {
+    delete paramWidgets;
     delete m_ui;
 }
 
@@ -89,8 +90,20 @@ void ParameterInterface::selectUAS(int index)
  */
 void ParameterInterface::addUAS(UASInterface* uas)
 {
+    int uasId = uas->getUASID();
+    qDebug() << "ParameterInterface::addUAS : " << uasId ;
+
+    if (paramWidgets->contains(uasId) ) {
+        return;
+    }
+
     QGCParamWidget* param = new QGCParamWidget(uas, this);
-    paramWidgets->insert(uas->getUASID(), param);
+    param->init();
+    QString ptrStr;
+    ptrStr.sprintf("QGCParamWidget %8p (parent %8p)", param,this);
+    qDebug() << "Created " << ptrStr << " for UAS id: " << uasId << " count: " << paramWidgets->count();
+
+    paramWidgets->insert(uasId, param);
     m_ui->stackedWidget->addWidget(param);
 
     QGCSensorSettingsWidget* sensor = NULL;

src/ui/PrimaryFlightDisplay.cc

@@ -267,15 +267,24 @@ void PrimaryFlightDisplay::forgetUAS(UASInterface* uas)
 {
     if (this->uas != NULL && this->uas == uas) {
         // Disconnect any previously connected active MAV
-        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
-        disconnect(this->uas, SIGNAL(primarySpeedChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimarySpeed(UASInterface*,double,quint64)));
-        disconnect(this->uas, SIGNAL(gpsSpeedChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSSpeed(UASInterface*,double,quint64)));
-        disconnect(this->uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
-        disconnect(this->uas, SIGNAL(primaryAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimaryAltitude(UASInterface*, double, quint64)));
-        disconnect(this->uas, SIGNAL(gpsAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSAltitude(UASInterface*, double, quint64)));
-        disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
+        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),
+                   this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
+        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)),
+                   this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
+        //disconnect(this->uas, SIGNAL(waypointSelected(int,int)),
+        //           this, SLOT(selectWaypoint(int, int)));
+        disconnect(this->uas, SIGNAL(primarySpeedChanged(UASInterface*, double, quint64)),
+                   this, SLOT(updatePrimarySpeed(UASInterface*,double,quint64)));
+        disconnect(this->uas, SIGNAL(gpsSpeedChanged(UASInterface*, double, quint64)),
+                   this, SLOT(updateGPSSpeed(UASInterface*,double,quint64)));
+        disconnect(this->uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)),
+                   this,SLOT(updateClimbRate(UASInterface*, double, quint64)));
+        disconnect(this->uas, SIGNAL(primaryAltitudeChanged(UASInterface*, double, quint64)),
+                   this, SLOT(updatePrimaryAltitude(UASInterface*, double, quint64)));
+        disconnect(this->uas, SIGNAL(gpsAltitudeChanged(UASInterface*, double, quint64)),
+                   this, SLOT(updateGPSAltitude(UASInterface*, double, quint64)));
+        disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)),
+                   this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
 
         //disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
         //disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
@@ -314,10 +323,12 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
 
         //connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         //connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
+        //connect(uas, SIGNAL(waypointSelected(int,int)), this,
+        //        SLOT(selectWaypoint(int, int)));
         connect(uas, SIGNAL(primarySpeedChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimarySpeed(UASInterface*,double,quint64)));
         connect(uas, SIGNAL(gpsSpeedChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSSpeed(UASInterface*,double,quint64)));
-        connect(uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
+        connect(uas, SIGNAL(climbRateChanged(UASInterface*, double, quint64)), this,
+                SLOT(updateClimbRate(UASInterface*, double, quint64)));
         connect(uas, SIGNAL(primaryAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updatePrimaryAltitude(UASInterface*, double, quint64)));
         connect(uas, SIGNAL(gpsAltitudeChanged(UASInterface*, double, quint64)), this, SLOT(updateGPSAltitude(UASInterface*, double, quint64)));
         connect(uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));

src/ui/QGCConfigView.cc

@@ -8,7 +8,7 @@
 QGCConfigView::QGCConfigView(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::QGCConfigView),
-    currUAS(NULL)
+    mav(NULL)
 {
     ui->setupUi(this);
 
@@ -26,7 +26,7 @@ QGCConfigView::~QGCConfigView()
 
 void QGCConfigView::activeUASChanged(UASInterface* uas)
 {
-    if (currUAS == uas)
+    if (mav == uas)
         return;
 
     //remove all child widgets since they could contain stale data
@@ -41,11 +41,13 @@ void QGCConfigView::activeUASChanged(UASInterface* uas)
         }
     }
 
-    if (NULL != uas) {
+    mav = uas;
+    if (NULL != mav) {
         ui->gridLayout->removeWidget(ui->waitingLabel);
         ui->waitingLabel->setVisible(false);
 
-        switch (uas->getAutopilotType()) {
+        int autopilotType = mav->getAutopilotType();
+        switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:
             ui->gridLayout->addWidget(new QGCPX4VehicleConfig());
             break;

src/ui/QGCConfigView.h

@@ -21,7 +21,7 @@ public slots:
     
 private:
     Ui::QGCConfigView *ui;
-    UASInterface* currUAS;
+    UASInterface* mav;
 
 };
 

src/ui/QGCPX4VehicleConfig.cc

@@ -13,9 +13,12 @@
 #include <QMessageBox>
 
 #include "QGCPX4VehicleConfig.h"
-#include "UASManager.h"
+
 #include "QGC.h"
+#include "QGCPendingParamWidget.h"
 #include "QGCToolWidget.h"
+#include "UASManager.h"
+#include "UASParameterCommsMgr.h"
 #include "ui_QGCPX4VehicleConfig.h"
 
 
@@ -80,7 +83,9 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
     //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
 
-
+    //TODO connect buttons here to save/clear actions?
+    ui->pendingCommitsWidget->init();
+    ui->pendingCommitsWidget->update();
 
     //TODO the following methods are not yet implemented
 
@@ -299,7 +304,6 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     }
 
     // Generate widgets for the Advanced tab.
-    left = true;
     foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
     {
         if (file.toLower().endsWith(".qgw")) {
@@ -793,9 +797,12 @@ void QGCPX4VehicleConfig::loadConfig()
         xml.readNext();
     }
 
-    mav->getParamManager()->setParamInfo(paramTooltips);
+    if (!paramTooltips.isEmpty()) {
+           mav->getParamManager()->setParamDescriptions(paramTooltips);
+    }
     doneLoadingConfig = true;
-    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    mav->getParamCommsMgr()->requestParameterList();
 }
 
 void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
@@ -824,31 +831,28 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
         // Disconnect old system
         disconnect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                    SLOT(remoteControlChannelRawChanged(int,float)));
+        //TODO use paramCommsMgr instead
         disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                    SLOT(parameterChanged(int,int,QString,QVariant)));
-        disconnect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
+        disconnect(ui->refreshButton,SIGNAL(clicked()),
+                   paramCommsMgr,SLOT(requestParameterList()));
 
         // Delete all children from all fixed tabs.
-        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->advanceColumnContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
-        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>())
-        {
+        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>()) {
             child->deleteLater();
         }
 
         // And then delete any custom tabs
-        foreach(QWidget* child, additionalTabs)
-        {
+        foreach(QWidget* child, additionalTabs) {
             child->deleteLater();
         }
         additionalTabs.clear();
@@ -864,6 +868,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     // Connect new system
     mav = active;
 
+    paramCommsMgr = mav->getParamCommsMgr();
     // Reset current state
     resetCalibrationRC();
 
@@ -873,26 +878,24 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     chanCount = 0;
 
     // Connect new system
-    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
+    connect(mav, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                SLOT(remoteControlChannelRawChanged(int,float)));
-    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
+    connect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                SLOT(parameterChanged(int,int,QString,QVariant)));
-    connect(ui->refreshButton, SIGNAL(clicked()), active, SLOT(requestParameters()));
+    connect(ui->refreshButton, SIGNAL(clicked()),
+            paramCommsMgr,SLOT(requestParameterList()));
 
-    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
-    {
+    if (systemTypeToParamMap.contains(mav->getSystemTypeName())) {
         paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
     }
-    else
-    {
+    else {
         //Indication that we have no meta data for this system type.
         qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
         paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
     }
 
-    if (!paramTooltips.isEmpty())
-    {
-           mav->getParamManager()->setParamInfo(paramTooltips);
+    if (!paramTooltips.isEmpty()) {
+           mav->getParamManager()->setParamDescriptions(paramTooltips);
     }
 
     qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
@@ -910,8 +913,7 @@ void QGCPX4VehicleConfig::setActiveUAS(UASInterface* active)
     ui->writeButton->setEnabled(true);
     ui->loadFileButton->setEnabled(true);
     ui->saveFileButton->setEnabled(true);
-    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
-    {
+    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA") {
         ui->readButton->hide();
         ui->writeButton->hide();
     }
@@ -941,6 +943,7 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
     // Do not write the RC type, as these values depend on this
     // active onboard parameter
 
+    //TODO consolidate RC param sending in the UAS comms mgr
     for (unsigned int i = 0; i < chanCount; ++i)
     {
         //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
@@ -975,26 +978,8 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
 
 void QGCPX4VehicleConfig::requestCalibrationRC()
 {
-    if (!mav) return;
-
-    QString minTpl("RC%1_MIN");
-    QString maxTpl("RC%1_MAX");
-    QString trimTpl("RC%1_TRIM");
-    QString revTpl("RC%1_REV");
-
-    // Do not request the RC type, as these values depend on this
-    // active onboard parameter
-
-    for (unsigned int i = 0; i < chanMax; ++i)
-    {
-        mav->requestParameter(0, minTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, trimTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, maxTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, revTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
+    if (paramCommsMgr) {
+        paramCommsMgr->requestRcCalibrationParamsUpdate();
     }
 }
 
@@ -1249,8 +1234,6 @@ void QGCPX4VehicleConfig::handleRcParameterChange(QString parameterName, QVarian
 
 void QGCPX4VehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    Q_UNUSED(uas);
-    Q_UNUSED(component);
     if (!doneLoadingConfig) {
         //We do not want to attempt to generate any UI elements until loading of the config file is complete.
         //We should re-request params later if needed, that is not implemented yet.

src/ui/QGCPX4VehicleConfig.h

@@ -10,6 +10,8 @@
 #include "QGCToolWidget.h"
 #include "UASInterface.h"
 
+class UASParameterCommsMgr;
+
 namespace Ui {
 class QGCPX4VehicleConfig;
 }
@@ -159,6 +161,7 @@ protected slots:
 protected:
     bool doneLoadingConfig;
     UASInterface* mav;                  ///< The current MAV
+    UASParameterCommsMgr* paramCommsMgr; ///< param comms mgr for the mav
     static const unsigned int chanMax = 8;    ///< Maximum number of channels
     unsigned int chanCount;               ///< Actual channels
     int rcType;                         ///< Type of the remote control
@@ -184,6 +187,7 @@ protected:
     QTimer updateTimer;                 ///< Controls update intervals
     enum RC_MODE rc_mode;               ///< Mode of the remote control, according to usual convention
     QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
+    QMap<QString,QGCToolWidget*> toolWidgetsByName; ///<
     bool calibrationEnabled;            ///< calibration mode on / off
 
     QMap<QString,QGCToolWidget*> paramToWidgetMap;                     ///< Holds the current active MAV's parameter widgets.

src/ui/QGCPX4VehicleConfig.ui

@@ -138,7 +138,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>0</number>
+        <number>3</number>
        </property>
        <widget class="QWidget" name="rcTab">
         <layout class="QVBoxLayout" name="verticalLayout_17">
@@ -1035,8 +1035,8 @@ p, li { white-space: pre-wrap; }
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>16</width>
-                   <height>16</height>
+                   <width>597</width>
+                   <height>569</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -1168,7 +1168,17 @@ p, li { white-space: pre-wrap; }
                 <number>0</number>
                </property>
                <item>
-                <widget class="QTreeView" name="pendingCommitsTreeView"/>
+                <widget class="QGCPendingParamWidget" name="pendingCommitsWidget" native="true">
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="autoFillBackground">
+                  <bool>true</bool>
+                 </property>
+                </widget>
                </item>
                <item>
                 <widget class="QPushButton" name="setButton">
@@ -1259,6 +1269,12 @@ p, li { white-space: pre-wrap; }
    <header>ui/designer/QGCRadioChannelDisplay.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>QGCPendingParamWidget</class>
+   <extends>QWidget</extends>
+   <header>/ui/QGCPendingParamWidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

src/ui/QGCParamWidget.h

@@ -48,40 +48,39 @@ class QGCParamWidget : public QGCUASParamManager
     Q_OBJECT
 public:
     QGCParamWidget(UASInterface* uas, QWidget *parent = 0);
-    /** @brief Get the UAS of this widget */
-    UASInterface* getUAS();
-
-    bool isParamMinKnown(const QString& param) { return paramMin.contains(param); }
-    bool isParamMaxKnown(const QString& param) { return paramMax.contains(param); }
-    bool isParamDefaultKnown(const QString& param) { return paramDefault.contains(param); }
-    double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); }
-    double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
-    double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
-    QString getParamInfo(const QString& param) { return paramToolTips.value(param, ""); }
-    void setParamInfo(const QMap<QString,QString>& param) { paramToolTips = param; }
+    virtual void init(); ///< Two-stage construction: initialize the object
+
+protected:
+    virtual void setParameterStatusMsg(const QString& msg);
+    virtual void layoutWidget();///< Layout the appearance of this widget
+    virtual void connectSignalsAndSlots();///< Connect signals/slots as needed
+    virtual QTreeWidgetItem* getParentWidgetItemForParam(int compId, const QString& paramName);
+    virtual QTreeWidgetItem* findChildWidgetItemForParam(QTreeWidgetItem* parentItem, const QString& paramName);
+
 
 signals:
-    /** @brief A parameter was changed in the widget, NOT onboard */
-    //void parameterChanged(int component, QString parametername, float value); // defined in QGCUASParamManager already
-    /** @brief Request a single parameter */
-    void requestParameter(int component, int parameter);
-    /** @brief Request a single parameter by name */
-    void requestParameter(int component, const QString& parameter);
+
+
 public slots:
-    /** @brief Add a component to the list */
-    void addComponent(int uas, int component, QString componentName);
-    /** @brief Add a parameter to the list with retransmission / safety checks */
-    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
-    /** @brief Add a parameter to the list */
-    void addParameter(int uas, int component, QString parameterName, QVariant value);
+    /** @brief Add a component to the list
+     * @param compId Component id of the component
+     * @param compName Human friendly name of the component
+     */
+    void addComponentItem(int compId, QString compName);
+
+
+    virtual void handleParameterUpdate(int component,const QString& parameterName, QVariant value);
+    virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+
+    virtual void handleParameterListUpToDate();
+
+    virtual void handleParamStatusMsgUpdate(QString msg, int level);
+
+    /** @brief Ensure that view of parameter matches data in the model */
+    QTreeWidgetItem* updateParameterDisplay(int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
-    void requestParameterList();
-    /** @brief Request one single parameter */
-    void requestParameterUpdate(int component, const QString& parameter);
-    /** @brief Set one parameter, changes value in RAM of MAV */
-    void setParameter(int component, QString parameterName, QVariant value);
-    /** @brief Set all parameters, changes the value in RAM of MAV */
-    void setParameters();
+    void requestAllParamsUpdate();
+
     /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
     void writeParameters();
     /** @brief Read the parameters from permanent storage to RAM */
@@ -92,32 +91,19 @@ public slots:
     void parameterItemChanged(QTreeWidgetItem* prev, int column);
 
     /** @brief Store parameters to a file */
-    void saveParameters();
+    void saveParametersToFile();
     /** @brief Load parameters from a file */
-    void loadParameters();
+    void loadParametersFromFile();
+
 
-    /** @brief Check for missing parameters */
-    void retransmissionGuardTick();
 
 protected:
     QTreeWidget* tree;   ///< The parameter tree
-    QLabel* statusLabel; ///< Parameter transmission label
-    QMap<int, QTreeWidgetItem*>* components; ///< The list of components
-    QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
-
-    // Tooltip data structures
-    QMap<QString, QString> paramToolTips; ///< Tooltip values
-    // Min / Default / Max data structures
-    QMap<QString, double> paramMin; ///< Minimum param values
-    QMap<QString, double> paramDefault; ///< Default param values
-    QMap<QString, double> paramMax; ///< Minimum param values
-
-    /** @brief Activate / deactivate parameter retransmission */
-    void setRetransmissionGuardEnabled(bool enabled);
-    /** @brief Load  settings */
-    void loadSettings();
-    /** @brief Load meta information from CSV */
-    void loadParameterInfoCSV(const QString& autopilot, const QString& airframe);
+    QLabel* statusLabel; ///< User-facing parameter status label
+    QMap<int, QTreeWidgetItem*>* componentItems; ///< The tree of component items, stored by component ID
+    QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups to organize component items
+    QString     updatingParamNameLock; ///< Name of param currently being updated-- used for reducing echo on param change
+
 };
 
 #endif // QGCPARAMWIDGET_H

src/ui/QGCPendingParamWidget.cc

+#include "QGCPendingParamWidget.h"
+
+#include "UASManager.h"
+#include "UASParameterCommsMgr.h"
+
+
+QGCPendingParamWidget::QGCPendingParamWidget(QObject *parent) :
+    QGCParamWidget(UASManager::instance()->getActiveUAS(),(QWidget*)parent)
+{
+}
+
+
+void QGCPendingParamWidget::init()
+{
+    //we override a lot of the super's init methods
+    layoutWidget();
+    connectSignalsAndSlots();
+
+    //don't request update params here...assume that everything we need is in the data model
+}
+
+void QGCPendingParamWidget::connectSignalsAndSlots()
+{
+    // Listing for pending list update
+    connect(paramDataModel, SIGNAL(pendingParamUpdate(int , const QString&, QVariant , bool )),
+            this, SLOT(handlePendingParamUpdate(int , const QString& ,  QVariant, bool )));
+
+    // Listen to communications status messages so we can display them
+    connect(paramCommsMgr, SIGNAL(parameterStatusMsgUpdated(QString,int)),
+            this, SLOT(handleParamStatusMsgUpdate(QString , int )));
+}
+
+void QGCPendingParamWidget::handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending)
+{
+   // qDebug() << "handlePendingParamUpdate:" << paramName << "with updatingParamNameLock:" << updatingParamNameLock;
+
+    if (updatingParamNameLock == paramName) {
+        //qDebug() << "ignoring bounce from " << paramName;
+        return;
+    }
+    else {
+        updatingParamNameLock = paramName;
+    }
+
+    QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
+
+    if (isPending) {
+        QTreeWidgetItem* paramItem = updateParameterDisplay(compId,paramName,value);
+        paramItem->setFlags(paramItem->flags() & ~Qt::ItemIsEditable); //disallow editing
+        paramItem->setBackground(0, QBrush(QColor(QGC::colorOrange)));
+        paramItem->setBackground(1, QBrush(QColor(QGC::colorOrange)));
+        tree->expandAll();
+    }
+    else {
+        //we don't display non-pending items
+        paramItem->parent()->removeChild(paramItem);
+    }
+
+    updatingParamNameLock.clear();
+
+}
+

src/ui/QGCPendingParamWidget.h

+#ifndef QGCPENDINGPARAMWIDGET_H
+#define QGCPENDINGPARAMWIDGET_H
+
+
+#include "QGCParamWidget.h"
+
+class QGCPendingParamWidget : public QGCParamWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCPendingParamWidget(QObject* parent);
+    virtual void init(); ///< Two-stage construction: initialize the object
+
+protected:
+    virtual void connectSignalsAndSlots();
+
+
+
+signals:
+    
+public slots:
+    virtual void handlePendingParamUpdate(int compId, const QString& paramName, QVariant value, bool isPending);
+
+};
+
+#endif // QGCPENDINGPARAMWIDGET_H

src/ui/QGCVehicleConfig.cc

@@ -13,9 +13,11 @@
 #include <QMessageBox>
 
 #include "QGCVehicleConfig.h"
-#include "UASManager.h"
+
 #include "QGC.h"
 #include "QGCToolWidget.h"
+#include "UASManager.h"
+#include "UASParameterCommsMgr.h"
 #include "ui_QGCVehicleConfig.h"
 
 QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
@@ -786,9 +788,10 @@ void QGCVehicleConfig::loadConfig()
         xml.readNext();
     }
 
-    mav->getParamManager()->setParamInfo(paramTooltips);
+    mav->getParamManager()->setParamDescriptions(paramTooltips);
     doneLoadingConfig = true;
-    mav->requestParameters(); //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    //Config is finished, lets do a parameter request to ensure none are missed if someone else started requesting before we were finished.
+    mav->getParamCommsMgr()->requestParameterList();
 }
 
 void QGCVehicleConfig::setActiveUAS(UASInterface* active)
@@ -888,7 +891,7 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 
     if (!paramTooltips.isEmpty())
     {
-           mav->getParamManager()->setParamInfo(paramTooltips);
+           mav->getParamManager()->setParamDescriptions(paramTooltips);
     }
 
     qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
@@ -937,6 +940,7 @@ void QGCVehicleConfig::writeCalibrationRC()
     // Do not write the RC type, as these values depend on this
     // active onboard parameter
 
+    //TODO consolidate RC param sending in the UAS comms mgr
     for (unsigned int i = 0; i < chanCount; ++i)
     {
         //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
@@ -971,26 +975,8 @@ void QGCVehicleConfig::writeCalibrationRC()
 
 void QGCVehicleConfig::requestCalibrationRC()
 {
-    if (!mav) return;
-
-    QString minTpl("RC%1_MIN");
-    QString maxTpl("RC%1_MAX");
-    QString trimTpl("RC%1_TRIM");
-    QString revTpl("RC%1_REV");
-
-    // Do not request the RC type, as these values depend on this
-    // active onboard parameter
-
-    for (unsigned int i = 0; i < chanMax; ++i)
-    {
-        mav->requestParameter(0, minTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, trimTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, maxTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, revTpl.arg(i+1));
-        QGC::SLEEP::usleep(5000);
+    if (mav) {
+        mav->getParamCommsMgr()->requestRcCalibrationParamsUpdate();
     }
 }
 

src/ui/designer/QGCComboBox.cc

@@ -48,7 +48,7 @@ QGCComboBox::QGCComboBox(QWidget *parent) :
     connect(ui->editRemoveItemButton,SIGNAL(clicked()),this,SLOT(delButtonClicked()));
 
     // Sending actions
-    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(sendParameter()));
+    connect(ui->writeButton, SIGNAL(clicked()), this, SLOT(setParamPending()));
     connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int)));
     connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int)));
     //connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int)));
@@ -108,15 +108,14 @@ void QGCComboBox::setActiveUAS(UASInterface* activeUas)
         // Update current param value
         //requestParameter();
         // Set param info
-        QString text = uas->getParamManager()->getParamInfo(parameterName);
-        if (text != "")
-        {
+
+        QString text = uas->getParamDataModel()->getParamDescription(parameterName);
+        if (!text.isEmpty()) {
             ui->infoLabel->setToolTip(text);
             ui->infoLabel->show();
         }
         // Force-uncheck and hide label if no description is available
-        if (ui->editInfoCheckBox->isChecked())
-        {
+        if (ui->editInfoCheckBox->isChecked())  {
             showInfo((text.length() > 0));
         }
     }
@@ -147,27 +146,21 @@ void QGCComboBox::selectParameter(int paramIndex)
     parameterName = ui->editSelectParamComboBox->itemText(paramIndex);
 
     // Update min and max values if available
-    if (uas)
-    {
-        if (uas->getParamManager())
-        {
-            // Current value
-            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
-
+    if (uas)  {
+        UASParameterDataModel* dataModel =  uas->getParamDataModel();
+        if (dataModel) {
             // Minimum
-            if (uas->getParamManager()->isParamMinKnown(parameterName))
-            {
-                parameterMin = uas->getParamManager()->getParamMin(parameterName);
+            if (dataModel->isParamMinKnown(parameterName)) {
+                parameterMin = dataModel->getParamMin(parameterName);
             }
 
             // Maximum
-            if (uas->getParamManager()->isParamMaxKnown(parameterName))
-            {
-                parameterMax = uas->getParamManager()->getParamMax(parameterName);
+            if (dataModel->isParamMaxKnown(parameterName)) {
+                parameterMax = dataModel->getParamMax(parameterName);
             }
 
             // Description
-            QString text = uas->getParamManager()->getParamInfo(parameterName);
+            QString text = dataModel->getParamDescription(parameterName);
             //ui->infoLabel->setText(text);
             showInfo(!(text.length() > 0));
         }
@@ -240,24 +233,13 @@ void QGCComboBox::endEditMode()
     emit editingFinished();
 }
 
-void QGCComboBox::sendParameter()
+void QGCComboBox::setParamPending()
 {
-    if (uas)
-    {
-        // Set value, param manager handles retransmission
-        if (uas->getParamManager())
-        {
-            qDebug() << "Sending param:" << parameterName << "to component" << component << "with a value of" << parameterValue;
-            uas->getParamManager()->setParameter(component, parameterName, parameterValue);
-        }
-        else
-        {
-            qDebug() << "UAS HAS NO PARAM MANAGER, DOING NOTHING";
-        }
+    if (uas)  {
+        uas->getParamManager()->setPendingParam(component, parameterName, parameterValue);
     }
-    else
-    {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    else  {
+        qWarning() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 

src/ui/designer/QGCComboBox.h

@@ -23,8 +23,8 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
-    /** @brief Send the parameter to the MAV */
-    void sendParameter();
+    /** @brief Queue parameter for sending to the MAV (add to pending list)*/
+    void setParamPending();
     /** @brief Update the UI with the new parameter value */
     void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, const QVariant value);
     void writeSettings(QSettings& settings);

src/ui/designer/QGCParamSlider.h

@@ -23,8 +23,8 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
-    /** @brief Send the parameter to the MAV */
-    void sendParameter();
+    /** @brief Queue parameter for sending to the MAV (add to pending list)*/
+    void setParamPending();
     /** @brief Set the slider value as parameter value */
     void setSliderValue(int sliderValue);
     /** @brief Update the UI with the new parameter value */

src/ui/uas/UASListWidget.cc

@@ -149,7 +149,7 @@ void UASListWidget::addUAS(UASInterface* uas)
         QList<LinkInterface*>* x = uas->getLinks();
         if (x->size())
         {
-            LinkInterface* li = x->at(0);
+            LinkInterface* li = x->first();
 
             // Find an existing QGroupBox for this LinkInterface or create a
             // new one.