Merge pull request #4036 from DonLakeFlyer/OfflineVehicle

Offline vehicle support

qgcresources.qrc

@@ -273,6 +273,8 @@
         <file alias="APMParameterFactMetaData.Sub.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml</file>
         <file alias="CopterGeoFenceEditor.qml">src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml</file>
         <file alias="PlaneGeoFenceEditor.qml">src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml</file>
+        <file alias="Copter.OfflineEditing.params">src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params</file>
+        <file alias="Plane.OfflineEditing.params">src/FirmwarePlugin/APM/Plane3.7.OfflineEditing.params</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin">
         <file alias="GeoFenceEditor.qml">src/FirmwarePlugin/GeoFenceEditor.qml</file>

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -52,7 +52,7 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        return _autopilot->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
+        return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
     } else {
         return true;
     }

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -609,16 +609,15 @@ void APMCompassCal::startCalibration(void)
     connect(_calWorkerThread, &CalWorkerThread::vehicleTextMessage, this, &APMCompassCal::vehicleTextMessage);
 
     // Clear the offset parameters so we get raw data
-    AutoPilotPlugin* plugin = _vehicle->autopilotPlugin();
     for (int i=0; i<3; i++) {
         _calWorkerThread->rgCompassAvailable[i] = true;
 
         const char* deviceIdParam = CalWorkerThread::rgCompassParams[i][3];
-        if (plugin->parameterExists(-1, deviceIdParam)) {
-            _calWorkerThread->rgCompassAvailable[i] = plugin->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
+        if (_vehicle->parameterExists(-1, deviceIdParam)) {
+            _calWorkerThread->rgCompassAvailable[i] = _vehicle->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
             for (int j=0; j<3; j++) {
                 const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-                Fact* paramFact = plugin->getParameterFact(-1, offsetParam);
+                Fact* paramFact = _vehicle->getParameterFact(-1, offsetParam);
 
                 _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat();
                 paramFact->setRawValue(0.0);
@@ -637,12 +636,11 @@ void APMCompassCal::cancelCalibration(void)
     _stopCalibration();
 
     // Put the original offsets back
-    AutoPilotPlugin* plugin = _vehicle->autopilotPlugin();
     for (int i=0; i<3; i++) {
         for (int j=0; j<3; j++) {
             const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-            if (plugin->parameterExists(-1, offsetParam)) {
-                plugin->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
+            if (_vehicle->parameterExists(-1, offsetParam)) {
+                _vehicle->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
             }
         }
     }

src/AutoPilotPlugins/APM/APMPowerComponent.cc

@@ -40,7 +40,7 @@ bool APMPowerComponent::requiresSetup(void) const
 
 bool APMPowerComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
 }
 
 QStringList APMPowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -19,7 +19,7 @@ APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilo
     _mapParams << QStringLiteral("RCMAP_ROLL") << QStringLiteral("RCMAP_PITCH") << QStringLiteral("RCMAP_YAW") << QStringLiteral("RCMAP_THROTTLE");
 
     foreach (const QString& mapParam, _mapParams) {
-        Fact* fact = _autopilot->getParameterFact(-1, mapParam);
+        Fact* fact = _vehicle->getParameterFact(-1, mapParam);
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }
 
@@ -56,7 +56,7 @@ bool APMRadioComponent::setupComplete(void) const
 
     // First check for all attitude controls mapped
     for (int i=0; i<_mapParams.count(); i++) {
-        mapValues << _autopilot->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
+        mapValues << _vehicle->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
         if (mapValues[i] <= 0) {
             return false;
         }
@@ -64,14 +64,14 @@ bool APMRadioComponent::setupComplete(void) const
 
     // Next check RC#_MIN/MAX/TRIM all at defaults
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _autopilot->getParameterFact(-1, mapParam)->rawValue().toInt();
-        if (_autopilot->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
+        int channel = _vehicle->getParameterFact(-1, mapParam)->rawValue().toInt();
+        if (_vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
             return true;
         }
-        if (_autopilot->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
+        if (_vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
             return true;
         }
-        if (_autopilot->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
+        if (_vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
             return true;
         }
     }
@@ -116,17 +116,17 @@ void APMRadioComponent::_connectSetupTriggers(void)
 
     // Get the channels for attitude controls and connect to those values for triggers
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
+        int channel = _vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
 
-        Fact* fact = _autopilot->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
+        Fact* fact = _vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _autopilot->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
+        fact = _vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _autopilot->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
+        fact = _vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -62,7 +62,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
     // Accelerometer triggers
     triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
 
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         triggers << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
         triggers << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
         triggers << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
@@ -108,10 +108,10 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
     rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
 
     for (size_t i=0; i<cCompass; i++) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
-            _autopilot->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
+            _vehicle->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
             for (size_t j=0; j<cOffset; j++) {
-                if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }
@@ -133,7 +133,7 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     rgOffsets.clear();
 
     // This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
-    if (_autopilot->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
 
         // We have usage information for the remaining accels, so we can test them sa well
@@ -147,9 +147,9 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     }
 
     for (int i=0; i<rgAccels.count(); i++) {
-        if (rgUse.count() == 0 || _autopilot->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
+        if (rgUse.count() == 0 || _vehicle->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
             for (int j=0; j<rgAccels[0].count(); j++) {
-                if (_autopilot->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -60,7 +60,7 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
             // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
-            if (_autopilot->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
+            if (_vehicle->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
                 qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentCopter.qml");
             }
             break;

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -117,16 +117,6 @@ void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& na
     _vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
 }
 
-bool AutoPilotPlugin::parameterExists(int componentId, const QString& name) const
-{
-    return _vehicle->getParameterLoader()->parameterExists(componentId, name);
-}
-
-Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
-{
-    return _vehicle->getParameterLoader()->getFact(componentId, name);
-}
-
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -7,131 +7,119 @@
  *
  ****************************************************************************/
 
+#ifndef AUTOPILOTPLUGIN_H
+#define AUTOPILOTPLUGIN_H
 
-    /// @file
-    ///     @author Don Gagne <don@thegagnes.com>
+#include <QObject>
+#include <QList>
+#include <QString>
+#include <QQmlContext>
 
-    #ifndef AUTOPILOTPLUGIN_H
-    #define AUTOPILOTPLUGIN_H
+#include "VehicleComponent.h"
+#include "FactSystem.h"
+#include "Vehicle.h"
 
-    #include <QObject>
-    #include <QList>
-    #include <QString>
-    #include <QQmlContext>
+class ParameterLoader;
+class Vehicle;
+class FirmwarePlugin;
 
-    #include "VehicleComponent.h"
-    #include "FactSystem.h"
-    #include "Vehicle.h"
+/// This is the base class for AutoPilot plugins
+///
+/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
+/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
+/// code should reside in QGroundControl. The remainder of the QGroundControl source is
+/// generic to a common mavlink implementation.
 
-    class ParameterLoader;
-    class Vehicle;
-    class FirmwarePlugin;
+class AutoPilotPlugin : public QObject
+{
+    Q_OBJECT
 
-    /// This is the base class for AutoPilot plugins
-    ///
-    /// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
-    /// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
-    /// code should reside in QGroundControl. The remainder of the QGroundControl source is
-    /// generic to a common mavlink implementation.
+public:
+    AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
+    ~AutoPilotPlugin();
 
-    class AutoPilotPlugin : public QObject
-    {
-        Q_OBJECT
+    /// true: parameters are ready for use
+    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
 
-    public:
-        AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
-        ~AutoPilotPlugin();
+    /// true: parameters are missing from firmware response, false: all parameters received from firmware
+    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
 
-        /// true: parameters are ready for use
-        Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
+    /// List of VehicleComponent objects
+    Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
 
-        /// true: parameters are missing from firmware response, false: all parameters received from firmware
-        Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
+    /// false: One or more vehicle components require setup
+    Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
 
-        /// List of VehicleComponent objects
-        Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
+    /// Reset all parameters to their default values
+    Q_INVOKABLE void resetAllParametersToDefaults(void);
 
-        /// false: One or more vehicle components require setup
-        Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
+    /// Re-request the full set of parameters from the autopilot
+    Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
 
-        /// Reset all parameters to their default values
-        Q_INVOKABLE void resetAllParametersToDefaults(void);
+    /// Request a refresh on the specific parameter
+    Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
 
-        /// Re-request the full set of parameters from the autopilot
-        Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
+    /// Request a refresh on all parameters that begin with the specified prefix
+    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
 
-        /// Request a refresh on the specific parameter
-        Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
+    /// Returns all parameter names
+    QStringList parameterNames(int componentId);
 
-        /// Request a refresh on all parameters that begin with the specified prefix
-        Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
+    /// Writes the parameter facts to the specified stream
+    void writeParametersToStream(QTextStream &stream);
 
-        /// Returns true if the specifed parameter exists from the default component
-        Q_INVOKABLE bool parameterExists(int componentId, const QString& name) const;
+    /// Reads the parameters from the stream and updates values
+    /// @return Errors during load. Empty string for no errors
+    QString readParametersFromStream(QTextStream &stream);
 
-        /// Returns all parameter names
-        QStringList parameterNames(int componentId);
+    /// Returns true if the specifed fact exists
+    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
+                                int                     componentId,    ///< fact component, -1=default component
+                                const QString&          name);          ///< fact name
 
-        /// Returns the specified parameter Fact from the default component
-        /// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
-        /// parameterExists.
-        Fact* getParameterFact(int componentId, const QString& name);
+    /// Returns the specified Fact.
+    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
+    /// factExists.
+    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
+                  int                       componentId,    ///< fact component, -1=default component
+                  const QString&            name);          ///< fact name
 
-        /// Writes the parameter facts to the specified stream
-        void writeParametersToStream(QTextStream &stream);
+    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
 
-        /// Reads the parameters from the stream and updates values
-        /// @return Errors during load. Empty string for no errors
-        QString readParametersFromStream(QTextStream &stream);
+    // Must be implemented by derived class
+    virtual const QVariantList& vehicleComponents(void) = 0;
 
-        /// Returns true if the specifed fact exists
-        Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
-                                    int                     componentId,    ///< fact component, -1=default component
-                                    const QString&          name);          ///< fact name
+    // Property accessors
+    bool parametersReady(void) { return _parametersReady; }
+    bool missingParameters(void) { return _missingParameters; }
+    bool setupComplete(void);
 
-        /// Returns the specified Fact.
-        /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
-        /// factExists.
-        Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
-                      int                       componentId,    ///< fact component, -1=default component
-                      const QString&            name);          ///< fact name
+    Vehicle* vehicle(void) { return _vehicle; }
+    virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
 
-        const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+signals:
+    void parametersReadyChanged(bool parametersReady);
+    void missingParametersChanged(bool missingParameters);
+    void setupCompleteChanged(bool setupComplete);
+    void parameterListProgress(float value);
 
-        // Must be implemented by derived class
-        virtual const QVariantList& vehicleComponents(void) = 0;
+protected:
+    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
+    AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
 
-        // Property accessors
-        bool parametersReady(void) { return _parametersReady; }
-        bool missingParameters(void) { return _missingParameters; }
-        bool setupComplete(void);
+    Vehicle*        _vehicle;
+    FirmwarePlugin* _firmwarePlugin;
+    bool            _parametersReady;
+    bool            _missingParameters;
+    bool            _setupComplete;
 
-        Vehicle* vehicle(void) { return _vehicle; }
-        virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
 
-    signals:
-        void parametersReadyChanged(bool parametersReady);
-        void missingParametersChanged(bool missingParameters);
-        void setupCompleteChanged(bool setupComplete);
-        void parameterListProgress(float value);
+private slots:
+    void _uasDisconnected(void);
+    void _parametersReadyChanged(bool parametersReady);
 
-    protected:
-        /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
-        AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
+private:
+    void _recalcSetupComplete(void);
+};
 
-        Vehicle*        _vehicle;
-        FirmwarePlugin* _firmwarePlugin;
-        bool            _parametersReady;
-        bool            _missingParameters;
-        bool            _setupComplete;
-
-
-    private slots:
-        void _uasDisconnected(void);
-        void _parametersReadyChanged(bool parametersReady);
-
-    private:
-        void _recalcSetupComplete(void);
-    };
-
-    #endif
+#endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -129,7 +129,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 }
 
 QStringList AirframeComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,17 +43,17 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         return true;
     }
 
-    if (_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
-            (_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+    if (_vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+            (_vehicle->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
         return true;
     }
 
@@ -81,7 +81,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         // No RC input
         return QString();
     } else {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -117,8 +117,8 @@ void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
     // Check for older parameter version set
     // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
     // should be used instead.
-    if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
-            parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
+    if (_vehicle->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
+            _vehicle->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
         _incorrectParameterVersion = true;
         qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");

src/AutoPilotPlugins/PX4/PX4RadioComponent.cc

@@ -35,18 +35,18 @@ QString PX4RadioComponent::iconResource(void) const
 
 bool PX4RadioComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool PX4RadioComponent::setupComplete(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         // The best we can do to detect the need for a radio calibration is look for attitude
         // controls to be mapped.
         QStringList attitudeMappings;
         attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
         foreach(const QString &mapParam, attitudeMappings) {
-            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
+            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
                 return false;
             }
         }
@@ -76,7 +76,7 @@ QUrl PX4RadioComponent::summaryQmlSource(void) const
 
 QString PX4RadioComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
         
         if (!plugin->airframeComponent()->setupComplete()) {

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -44,9 +44,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
+    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
+        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
+        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
 }
 
 QStringList PowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -49,14 +49,14 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach (const QString &triggerParam, _deviceIds) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
             return false;
         }
     }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
-            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
+            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
                 return false;
             }
         }

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -306,9 +306,9 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
                 // Work out what the autopilot is configured to
                 int sides = 0;
 
-                if (_autopilot->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
+                if (_vehicle->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
                     // Read the requested calibration directions off the system
-                    sides = _autopilot->getParameterFact(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
+                    sides = _vehicle->getParameterFact(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
                 } else {
                     // There is no valid setting, default to all six sides
                     sides = (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2) | (1 << 1) | (1 << 0);

src/FactSystem/FactControls/FactPanelController.cc

@@ -31,6 +31,8 @@ FactPanelController::FactPanelController(bool standaloneUnitTesting)
     if (_vehicle) {
         _uas = _vehicle->uas();
         _autopilot = _vehicle->autopilotPlugin();
+    } else {
+        _vehicle = qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle();
     }
 
     if (!standaloneUnitTesting) {
@@ -102,7 +104,7 @@ bool FactPanelController::_allParametersExists(int componentId, QStringList name
     bool noMissingFacts = true;
 
     foreach (const QString &name, names) {
-        if (_autopilot && !_autopilot->parameterExists(componentId, name)) {
+        if (_vehicle && !_vehicle->parameterExists(componentId, name)) {
             _reportMissingParameter(componentId, name);
             noMissingFacts = false;
         }
@@ -120,8 +122,8 @@ void FactPanelController::_checkForMissingFactPanel(void)
 
 Fact* FactPanelController::getParameterFact(int componentId, const QString& name, bool reportMissing)
 {
-    if (_autopilot && _autopilot->parameterExists(componentId, name)) {
-        Fact* fact = _autopilot->getParameterFact(componentId, name);
+    if (_vehicle && _vehicle->parameterExists(componentId, name)) {
+        Fact* fact = _vehicle->getParameterFact(componentId, name);
         QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
         return fact;
     } else {
@@ -133,7 +135,7 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
 
 bool FactPanelController::parameterExists(int componentId, const QString& name)
 {
-    return _autopilot ? _autopilot->parameterExists(componentId, name) : false;
+    return _vehicle ? _vehicle->parameterExists(componentId, name) : false;
 }
 
 void FactPanelController::_showInternalError(const QString& errorMsg)

src/FactSystem/FactSystemTestBase.cc

@@ -96,7 +96,7 @@ void FactSystemTestBase::_qmlUpdate_test(void)
     // Change the value
 
     QVariant paramValue = 12;
-    _plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
+    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
 
     QTest::qWait(500); // Let the signals flow through
 

src/FactSystem/ParameterLoader.cc

@@ -39,7 +39,7 @@ const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParameterFactMetaData"
 ParameterLoader::ParameterLoader(Vehicle* vehicle)
     : QObject(vehicle)
     , _vehicle(vehicle)
-    , _mavlink(qgcApp()->toolbox()->mavlinkProtocol())
+    , _mavlink(NULL)
     , _parametersReady(false)
     , _initialLoadComplete(false)
     , _waitingForDefaultComponent(false)
@@ -53,8 +53,12 @@ ParameterLoader::ParameterLoader(Vehicle* vehicle)
     , _initialRequestRetryCount(0)
     , _totalParamCount(0)
 {
-    Q_ASSERT(_vehicle);
-    Q_ASSERT(_mavlink);
+    if (_vehicle->isOfflineEditingVehicle()) {
+        _loadOfflineEditingParams();
+        return;
+    }
+
+    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     // We signal this to ouselves in order to start timer on our thread
     connect(this, &ParameterLoader::restartWaitingParamTimer, this, &ParameterLoader::_restartWaitingParamTimer);
@@ -1212,3 +1216,71 @@ QString ParameterLoader::_remapParamNameToVersion(const QString& paramName)
 
     return mappedParamName;
 }
+
+/// The offline editing vehicle can have custom loaded params bolted into it.
+void ParameterLoader::_loadOfflineEditingParams(void)
+{    
+    QString paramFilename = _vehicle->firmwarePlugin()->offlineEditingParamFile(_vehicle);
+    if (paramFilename.isEmpty()) {
+        return;
+    }
+
+    QFile paramFile(paramFilename);
+    if (!paramFile.open(QFile::ReadOnly)) {
+        qCWarning(ParameterLoaderLog) << "Unable to open offline editing params file" << paramFilename;
+    }
+
+    QTextStream paramStream(&paramFile);
+
+    while (!paramStream.atEnd()) {
+        QString line = paramStream.readLine();
+
+        if (line.startsWith("#")) {
+            continue;
+        }
+
+        QStringList paramData = line.split("\t");
+        Q_ASSERT(paramData.count() == 5);
+
+        _defaultComponentId = paramData.at(1).toInt();
+        QString paramName = paramData.at(2);
+        QString valStr = paramData.at(3);
+        MAV_PARAM_TYPE paramType = static_cast<MAV_PARAM_TYPE>(paramData.at(4).toUInt());
+
+        QVariant paramValue;
+        switch (paramType) {
+        case MAV_PARAM_TYPE_REAL32:
+            paramValue = QVariant(valStr.toFloat());
+            break;
+        case MAV_PARAM_TYPE_UINT32:
+            paramValue = QVariant(valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT32:
+            paramValue = QVariant(valStr.toInt());
+            break;
+        case MAV_PARAM_TYPE_UINT16:
+            paramValue = QVariant((quint16)valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT16:
+            paramValue = QVariant((qint16)valStr.toInt());
+            break;
+        case MAV_PARAM_TYPE_UINT8:
+            paramValue = QVariant((quint8)valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT8:
+            paramValue = QVariant((qint8)valStr.toUInt());
+            break;
+        default:
+            qCritical() << "Unknown type" << paramType;
+            paramValue = QVariant(valStr.toInt());
+            break;
+        }
+
+        Fact* fact = new Fact(_defaultComponentId, paramName, _mavTypeToFactType(paramType), this);
+        _mapParameterName2Variant[_defaultComponentId][paramName] = QVariant::fromValue(fact);
+    }
+
+    _addMetaDataToDefaultComponent();
+    _parametersReady = true;
+    _initialLoadComplete = true;
+}

src/FactSystem/ParameterLoader.h

@@ -125,6 +125,7 @@ private:
     void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value);
     void _addMetaDataToDefaultComponent(void);
     QString _remapParamNameToVersion(const QString& paramName);
+    void _loadOfflineEditingParams(void);
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -31,6 +31,10 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
 {
     connect(_vehicle,                       &Vehicle::mavlinkMessageReceived,   this, &APMGeoFenceManager::_mavlinkMessageReceived);
     connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady,  this, &APMGeoFenceManager::_parametersReady);
+
+    if (_vehicle->getParameterLoader()->parametersAreReady()) {
+        _parametersReady();
+    }
 }
 
 APMGeoFenceManager::~APMGeoFenceManager()
@@ -40,6 +44,10 @@ APMGeoFenceManager::~APMGeoFenceManager()
 
 void APMGeoFenceManager::sendToVehicle(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     if (_readTransactionInProgress) {
         _sendError(InternalError, QStringLiteral("Geo-Fence write attempted while read in progress."));
         return;
@@ -82,6 +90,10 @@ void APMGeoFenceManager::sendToVehicle(void)
 
 void APMGeoFenceManager::loadFromVehicle(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     _polygon.clear();
 
     if (!_geoFenceSupported()) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -210,7 +210,7 @@ bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
 {
-    return vehicle->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
+    return vehicle->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
 QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -67,6 +67,7 @@ public:
     bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
     bool multiRotorXConfig(Vehicle* vehicle) final;
     QString geoFenceRadiusParam(Vehicle* vehicle) final;
+    QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -54,6 +54,9 @@ class ArduPlaneFirmwarePlugin : public APMFirmwarePlugin
     
 public:
     ArduPlaneFirmwarePlugin(void);
+
+    // Overrides from FirmwarePlugin
+    QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
 };
 
 #endif

src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml

@@ -36,11 +36,6 @@ Column {
         color:          qgcPal.text
     }
 
-    QGCLabel {
-        text:       qsTr("Must be connected to Vehicle to change fence settings.")
-        visible:    !QGroundControl.multiVehicleManager.activeVehicle
-    }
-
     Repeater {
         model: geoFenceController.params
 
@@ -80,7 +75,7 @@ Column {
         anchors.left:   parent.left
         anchors.right:  parent.right
         flightMap:      editorMap
-        polygon:        root.polygon
+        polygon:        geoFenceController.polygon
         sectionLabel:   qsTr("Fence Polygon:")
         visible:        geoFenceController.polygonSupported
     }

src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml

@@ -218,7 +218,7 @@ Column {
         anchors.left:   parent.left
         anchors.right:  parent.right
         flightMap:      editorMap
-        polygon:        root.polygon
+        polygon:        geoFenceController.polygon
         sectionLabel:   qsTr("Fence Polygon:")
     }
 }

src/FirmwarePlugin/FirmwarePlugin.h

@@ -216,6 +216,9 @@ public:
 
     /// Returns the parameter which holds the fence circle radius if supported.
     virtual QString geoFenceRadiusParam(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
+
+    /// Return the resource file which contains the set of params loaded for offline editing.
+    virtual QString offlineEditingParamFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
 };
 
 #endif

src/FirmwarePlugin/GeoFenceEditor.qml

@@ -12,7 +12,7 @@ import QGroundControl.FactSystem    1.0
 QGCLabel {
     width:      availableWidth
     wrapMode:   Text.WordWrap
-    text:       qsTr("This vehicle does tno support GeoFence.")
+    text:       qsTr("This vehicle does not support GeoFence.")
 
     //property var contoller - controller - Must be passed in from Loader
     //property real availableWidth - Available width for control - Must be passed in from Loader

src/FlightMap/Widgets/ValuesWidget.qml

@@ -30,7 +30,7 @@ QGCFlickable {
     property color  textColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
 
     QGCPalette { id:qgcPal; colorGroupEnabled: true }

src/FlightMap/Widgets/VibrationWidget.qml

@@ -29,7 +29,7 @@ QGCFlickable {
     property color  backgroundColor
     property var    maxHeight
 
-    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
+    property var    _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
     property real   _margins:       ScreenTools.defaultFontPixelWidth / 2
     property real   _barWidth:      Math.round(ScreenTools.defaultFontPixelWidth * 3)
 

src/MissionManager/GeoFenceController.cc

@@ -62,11 +62,11 @@ void GeoFenceController::_signalAll(void)
     emit editorQmlChanged(editorQml());
 }
 
-void GeoFenceController::_activeVehicleBeingRemoved(Vehicle* vehicle)
+void GeoFenceController::_activeVehicleBeingRemoved(void)
 {
     _clearGeoFence();
     _signalAll();
-    vehicle->geoFenceManager()->disconnect(this);
+    _activeVehicle->geoFenceManager()->disconnect(this);
 }
 
 void GeoFenceController::_activeVehicleSet(void)
@@ -122,23 +122,23 @@ void GeoFenceController::removeAll(void)
 
 void GeoFenceController::loadFromVehicle(void)
 {
-    if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
         _activeVehicle->geoFenceManager()->loadFromVehicle();
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
     }
 }
 
 void GeoFenceController::sendToVehicle(void)
 {
-    if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
         _activeVehicle->geoFenceManager()->setPolygon(polygon());
         _activeVehicle->geoFenceManager()->setBreachReturnPoint(breachReturnPoint());
         setDirty(false);
         _polygon.setDirty(false);
         _activeVehicle->geoFenceManager()->sendToVehicle();
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
     }
 }
 
@@ -150,11 +150,7 @@ void GeoFenceController::_clearGeoFence(void)
 
 bool GeoFenceController::syncInProgress(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->inProgress();
-    } else {
-        return false;
-    }
+    return _activeVehicle->geoFenceManager()->inProgress();
 }
 
 bool GeoFenceController::dirty(void) const
@@ -183,38 +179,22 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty)
 
 bool GeoFenceController::fenceSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->fenceSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->fenceSupported();
 }
 
 bool GeoFenceController::circleSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->circleSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->circleSupported();
 }
 
 bool GeoFenceController::polygonSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->polygonSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->polygonSupported();
 }
 
 bool GeoFenceController::breachReturnSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->breachReturnSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->breachReturnSupported();
 }
 
 void GeoFenceController::_setDirty(void)
@@ -231,37 +211,20 @@ void GeoFenceController::_setPolygon(const QList<QGeoCoordinate>& polygon)
 
 float GeoFenceController::circleRadius(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->circleRadius();
-    } else {
-        return 0.0;
-    }
+    return _activeVehicle->geoFenceManager()->circleRadius();
 }
 
 QVariantList GeoFenceController::params(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->params();
-    } else {
-        return QVariantList();
-    }
+    return _activeVehicle->geoFenceManager()->params();
 }
 
 QStringList GeoFenceController::paramLabels(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->paramLabels();
-    } else {
-        return QStringList();
-    }
+    return _activeVehicle->geoFenceManager()->paramLabels();
 }
 
 QString GeoFenceController::editorQml(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->editorQml();
-    } else {
-        // FIXME: Offline editing support
-        return QString();
-    }
+    return _activeVehicle->geoFenceManager()->editorQml();
 }

src/MissionManager/GeoFenceController.h

@@ -85,7 +85,7 @@ private:
     void _clearGeoFence(void);
     void _signalAll(void);
 
-    void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
+    void _activeVehicleBeingRemoved(void) final;
     void _activeVehicleSet(void) final;
 
     bool            _dirty;

src/MissionManager/MissionCommandTreeTest.cc

@@ -174,12 +174,12 @@ void MissionCommandTreeTest::testJsonLoad(void)
 void MissionCommandTreeTest::testOverride(void)
 {
     // Generic/Generic should not have any overrides
-    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC);
+    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC, qgcApp()->toolbox()->firmwarePluginManager());
     _checkBaseValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
     delete vehicle;
 
     // Generic/FixedWing should have overrides
-    vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING);
+    vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
     _checkOverrideValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
     delete vehicle;
 }
@@ -195,7 +195,7 @@ void MissionCommandTreeTest::testAllTrees(void)
     // This will cause all of the variants of collapsed trees to be built
     foreach(MAV_AUTOPILOT firmwareType, firmwareList) {
         foreach (MAV_TYPE vehicleType, vehicleList) {
-            Vehicle* vehicle = new Vehicle(firmwareType, vehicleType);
+            Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
             qDebug() << firmwareType << vehicleType;
             QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != NULL);
             delete vehicle;

src/MissionManager/MissionController.cc

@@ -1023,17 +1023,17 @@ void MissionController::_itemCommandChanged(void)
     _recalcWaypointLines();
 }
 
-void MissionController::_activeVehicleBeingRemoved(Vehicle* vehicle)
+void MissionController::_activeVehicleBeingRemoved(void)
 {
-    qCDebug(MissionControllerLog) << "_activeVehicleSet _activeVehicleBeingRemoved";
+    qCDebug(MissionControllerLog) << "MissionController::_activeVehicleBeingRemoved";
 
-    MissionManager* missionManager = vehicle->missionManager();
+    MissionManager* missionManager = _activeVehicle->missionManager();
 
     disconnect(missionManager, &MissionManager::newMissionItemsAvailable,   this, &MissionController::_newMissionItemsAvailableFromVehicle);
     disconnect(missionManager, &MissionManager::inProgressChanged,          this, &MissionController::_inProgressChanged);
     disconnect(missionManager, &MissionManager::currentItemChanged,         this, &MissionController::_currentMissionItemChanged);
-    disconnect(vehicle, &Vehicle::homePositionAvailableChanged,             this, &MissionController::_activeVehicleHomePositionAvailableChanged);
-    disconnect(vehicle, &Vehicle::homePositionChanged,                      this, &MissionController::_activeVehicleHomePositionChanged);
+    disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged,      this, &MissionController::_activeVehicleHomePositionAvailableChanged);
+    disconnect(_activeVehicle, &Vehicle::homePositionChanged,               this, &MissionController::_activeVehicleHomePositionChanged);
 
     // We always remove all items on vehicle change. This leaves a user model hole:
     //      If the user has unsaved changes in the Plan view they will lose them

src/MissionManager/MissionController.h

@@ -131,7 +131,7 @@ private:
     int _nextSequenceNumber(void);
 
     // Overrides from PlanElementController
-    void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
+    void _activeVehicleBeingRemoved(void) final;
     void _activeVehicleSet(void) final;
 
 private:

src/MissionManager/MissionManager.cc

@@ -44,6 +44,10 @@ MissionManager::~MissionManager()
 
 void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     if (inProgress()) {
         qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
         return;
@@ -131,6 +135,10 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
 
 void MissionManager::requestMissionItems(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     qCDebug(MissionManagerLog) << "requestMissionItems read sequence";
 
     if (inProgress()) {

src/MissionManager/PlanElementController.cc

@@ -9,11 +9,12 @@
 
 #include "PlanElementController.h"
 #include "QGCApplication.h"
+#include "MultiVehicleManager.h"
 
 PlanElementController::PlanElementController(QObject* parent)
     : QObject(parent)
-    , _activeVehicle(NULL)
     , _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager())
+    , _activeVehicle(_multiVehicleMgr->offlineEditingVehicle())
     , _editMode(false)
 {
 
@@ -34,16 +35,16 @@ void PlanElementController::start(bool editMode)
 void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
 {
     if (_activeVehicle) {
-        Vehicle* vehicleSave = _activeVehicle;
+        _activeVehicleBeingRemoved();
         _activeVehicle = NULL;
-        _activeVehicleBeingRemoved(vehicleSave);
     }
 
-    _activeVehicle = activeVehicle;
-
-    if (_activeVehicle) {
-        _activeVehicleSet();
+    if (activeVehicle) {
+        _activeVehicle = activeVehicle;
+    } else {
+        _activeVehicle = _multiVehicleMgr->offlineEditingVehicle();
     }
+    _activeVehicleSet();
 
     // Whenever vehicle changes we need to update syncInProgress
     emit syncInProgressChanged(syncInProgress());

src/MissionManager/PlanElementController.h

@@ -52,13 +52,13 @@ signals:
     void dirtyChanged           (bool dirty);
 
 protected:
-    Vehicle*                _activeVehicle;
     MultiVehicleManager*    _multiVehicleMgr;
+    Vehicle*                _activeVehicle;     ///< Currently active vehicle, can be disconnected offline editing vehicle
     bool                    _editMode;
 
-    /// Called when the current active vehicle has been removed. Derived classes should override
-    /// to implement custom behavior. When this is called _activeVehicle has already been cleared.
-    virtual void _activeVehicleBeingRemoved(Vehicle* removedVehicle) = 0;
+    /// Called when the current active vehicle is about to be removed. Derived classes should override
+    /// to implement custom behavior.
+    virtual void _activeVehicleBeingRemoved(void) = 0;
 
     /// Called when a new active vehicle has been set. Derived classes should override
     /// to implement custom behavior.

src/MissionManager/SimpleMissionItemTest.cc

@@ -10,6 +10,7 @@
 
 #include "SimpleMissionItemTest.h"
 #include "SimpleMissionItem.h"
+#include "QGCApplication.h"
 
 const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
     { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
@@ -80,7 +81,7 @@ SimpleMissionItemTest::SimpleMissionItemTest(void)
 
 void SimpleMissionItemTest::_testEditorFacts(void)
 {
-    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING);
+    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
 
     for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
         const ItemInfo_t* info = &_rgItemInfo[i];

src/QGCApplication.cc

@@ -343,6 +343,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     initializeVideoStreaming(argc, argv);
 
     _toolbox = new QGCToolbox(this);
+    _toolbox->setChildToolboxes();
 }
 
 QGCApplication::~QGCApplication()

src/QGCToolbox.cc

@@ -71,7 +71,10 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
     _qgcPositionManager =       new QGCPositionManager(app);
     _followMe =                 new FollowMe(app);
     _videoManager =             new VideoManager(app);
+}
 
+void QGCToolbox::setChildToolboxes(void)
+{
     _audioOutput->setToolbox(this);
     _autopilotPluginManager->setToolbox(this);
     _factSystem->setToolbox(this);

src/QGCToolbox.h

@@ -61,6 +61,8 @@ public:
 #endif
 
 private:
+    void setChildToolboxes(void);
+
     GAudioOutput*               _audioOutput;
     AutoPilotPluginManager*     _autopilotPluginManager;
     FactSystem*                 _factSystem;
@@ -81,6 +83,8 @@ private:
     FollowMe*                   _followMe;
     QGCPositionManager*         _qgcPositionManager;
     VideoManager*               _videoManager;
+
+    friend class QGCApplication;
 };
 
 /// This is the base class for all tools

src/QmlControls/ParameterEditorController.cc

@@ -68,7 +68,7 @@ QStringList ParameterEditorController::searchParametersForComponent(int componen
         if (searchText.isEmpty()) {
             list += paramName;
         } else {
-            Fact* fact = _autopilot->getParameterFact(componentId, paramName);
+            Fact* fact = _vehicle->getParameterFact(componentId, paramName);
             
             if (searchInName && fact->name().contains(searchText, Qt::CaseInsensitive)) {
                 list += paramName;
@@ -189,11 +189,11 @@ void ParameterEditorController::_updateParameters(void)
     if (_searchText.isEmpty()) {
         const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
         foreach (const QString& parameter, groupMap[_currentComponentId][_currentGroup]) {
-            newParameterList.append(_autopilot->getParameterFact(_currentComponentId, parameter));
+            newParameterList.append(_vehicle->getParameterFact(_currentComponentId, parameter));
         }
     } else {
         foreach(const QString &parameter, _autopilot->parameterNames(_vehicle->defaultComponentId())) {
-            Fact* fact = _autopilot->getParameterFact(_vehicle->defaultComponentId(), parameter);
+            Fact* fact = _vehicle->getParameterFact(_vehicle->defaultComponentId(), parameter);
             if (fact->name().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->shortDescription().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->longDescription().contains(_searchText, Qt::CaseInsensitive)) {

src/Vehicle/MultiVehicleManager.cc

@@ -7,16 +7,13 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "MultiVehicleManager.h"
 #include "AutoPilotPlugin.h"
 #include "MAVLinkProtocol.h"
 #include "UAS.h"
 #include "QGCApplication.h"
 #include "FollowMe.h"
+#include "QGroundControlQmlGlobal.h"
 
 #ifdef __mobile__
 #include "MobileScreenMgr.h"
@@ -33,7 +30,7 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     , _activeVehicleAvailable(false)
     , _parameterReadyVehicleAvailable(false)
     , _activeVehicle(NULL)
-    , _disconnectedVehicle(NULL)
+    , _offlineEditingVehicle(NULL)
     , _firmwarePluginManager(NULL)
     , _autopilotPluginManager(NULL)
     , _joystickManager(NULL)
@@ -50,8 +47,6 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     if (_gcsHeartbeatEnabled) {
         _gcsHeartbeatTimer.start();
     }
-
-    _disconnectedVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, this);
 }
 
 void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
@@ -67,6 +62,11 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
 
    connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &MultiVehicleManager::_vehicleHeartbeatInfo);
+
+   _offlineEditingVehicle = new Vehicle(static_cast<MAV_AUTOPILOT>(QGroundControlQmlGlobal::offlineEditingFirmwareType()->rawValue().toInt()),
+                                        static_cast<MAV_TYPE>(QGroundControlQmlGlobal::offlineEditingVehicleType()->rawValue().toInt()),
+                                        _firmwarePluginManager,
+                                        this);
 }
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)

src/Vehicle/MultiVehicleManager.h

@@ -45,8 +45,8 @@ public:
     Q_PROPERTY(QmlObjectListModel*  vehicles                        READ vehicles                                                       CONSTANT)
     Q_PROPERTY(bool                 gcsHeartBeatEnabled             READ gcsHeartbeatEnabled            WRITE setGcsHeartbeatEnabled    NOTIFY gcsHeartBeatEnabledChanged)
 
-    /// A disconnected vehicle is used to simulate vehicle information while no vehicle is connected.
-    Q_PROPERTY(Vehicle*             disconnectedVehicle             MEMBER _disconnectedVehicle                                         CONSTANT)
+    /// A disconnected vehicle used for offline editing. It will match the vehicle type specified in Settings.
+    Q_PROPERTY(Vehicle*             offlineEditingVehicle           READ offlineEditingVehicle                                          CONSTANT)
 
     // Methods
 
@@ -68,6 +68,8 @@ public:
     bool gcsHeartbeatEnabled(void) const { return _gcsHeartbeatEnabled; }
     void setGcsHeartbeatEnabled(bool gcsHeartBeatEnabled);
 
+    Vehicle* offlineEditingVehicle(void) { return _offlineEditingVehicle; }
+
     /// Determines if the link is in use by a Vehicle
     ///     @param link Link to test against
     ///     @param skipVehicle Don't consider this Vehicle as part of the test
@@ -101,7 +103,7 @@ private:
     bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
-    Vehicle*    _disconnectedVehicle;               ///< Disconnected vechicle for FactGroup access
+    Vehicle*    _offlineEditingVehicle;             ///< Disconnected vechicle used for offline editing
 
     QList<Vehicle*> _vehiclesBeingDeleted;          ///< List of Vehicles being deleted in queued phases
     Vehicle*        _vehicleBeingSetActive;         ///< Vehicle being set active in queued phases

src/Vehicle/Vehicle.cc

@@ -65,7 +65,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
     , _id(vehicleId)
     , _active(false)
-    , _disconnectedVehicle(false)
+    , _offlineEditingVehicle(false)
     , _firmwareType(firmwareType)
     , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
@@ -203,7 +203,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
     connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
 
-    // GeoFenceManager needs to access ParameterLoader so make sure to create afters
+    // GeoFenceManager needs to access ParameterLoader so make sure to create after
     _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
     connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
 
@@ -254,12 +254,15 @@ Vehicle::Vehicle(LinkInterface*             link,
     _vibrationFactGroup.setVehicle(this);
 }
 
-// Disconnected Vehicle
-Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent)
+// Disconnected Vehicle for offline editing
+Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
+                 MAV_TYPE                   vehicleType,
+                 FirmwarePluginManager*     firmwarePluginManager,
+                 QObject*                   parent)
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
     , _id(0)
     , _active(false)
-    , _disconnectedVehicle(true)
+    , _offlineEditingVehicle(true)
     , _firmwareType(firmwareType)
     , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
@@ -290,12 +293,14 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* pare
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
     , _missionManagerInitialRequestComplete(false)
+    , _geoFenceManager(NULL)
+    , _geoFenceManagerInitialRequestComplete(false)
     , _parameterLoader(NULL)
     , _armed(false)
     , _base_mode(0)
     , _custom_mode(0)
     , _nextSendMessageMultipleIndex(0)
-    , _firmwarePluginManager(NULL)
+    , _firmwarePluginManager(firmwarePluginManager)
     , _autopilotPluginManager(NULL)
     , _joystickManager(NULL)
     , _flowImageIndex(0)
@@ -322,10 +327,16 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* pare
     , _windFactGroup(this)
     , _vibrationFactGroup(this)
 {
-    // This is a hack for disconnected vehicle used while unit testing
-    if (qgcApp()->toolbox() && qgcApp()->toolbox()->firmwarePluginManager()) {
-        _firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
-    }
+    _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
+
+    _missionManager = new MissionManager(this);
+    connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
+
+    _parameterLoader = new ParameterLoader(this);
+
+    // GeoFenceManager needs to access ParameterLoader so make sure to create after
+    _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
+    connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
 
     // Build FactGroup object model
 
@@ -1406,11 +1417,6 @@ void Vehicle::disconnectInactiveVehicle(void)
     }
 }
 
-ParameterLoader* Vehicle::getParameterLoader(void)
-{
-    return _parameterLoader;
-}
-
 void Vehicle::_imageReady(UASInterface*)
 {
     if(_uas)
@@ -1829,7 +1835,7 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
 /// Returns true if the specifed parameter exists from the default component
 bool Vehicle::parameterExists(int componentId, const QString& name) const
 {
-    return _autopilotPlugin->parameterExists(componentId, name);
+    return getParameterLoader()->parameterExists(componentId, name);
 }
 
 /// Returns the specified parameter Fact from the default component
@@ -1837,7 +1843,7 @@ bool Vehicle::parameterExists(int componentId, const QString& name) const
 /// parameterExists.
 Fact* Vehicle::getParameterFact(int componentId, const QString& name)
 {
-    return _autopilotPlugin->getParameterFact(componentId, name);
+    return getParameterLoader()->getFact(componentId, name);
 }
 
 void Vehicle::_newMissionItemsAvailable(void)

src/Vehicle/Vehicle.h

@@ -216,9 +216,11 @@ public:
             AutoPilotPluginManager* autopilotPluginManager,
             JoystickManager*        joystickManager);
 
-    // The following is used to create a disconnected Vehicle. Disconnected vehicles are used used to access FactGroup information
-    // without needing a real connection as well as offline mission planning.
-    Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent = NULL);
+    // The following is used to create a disconnected Vehicle for use while offline editing.
+    Vehicle(MAV_AUTOPILOT           firmwareType,
+            MAV_TYPE                vehicleType,
+            FirmwarePluginManager*  firmwarePluginManager,
+            QObject*                parent = NULL);
 
     ~Vehicle();
 
@@ -276,6 +278,7 @@ public:
     Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
     Q_PROPERTY(bool                 coaxialMotors           READ coaxialMotors                                          CONSTANT)
     Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
+    Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -497,32 +500,33 @@ public:
         MessageError
     } MessageType_t;
 
-    bool            messageTypeNone     () { return _currentMessageType == MessageNone; }
-    bool            messageTypeNormal   () { return _currentMessageType == MessageNormal; }
-    bool            messageTypeWarning  () { return _currentMessageType == MessageWarning; }
-    bool            messageTypeError    () { return _currentMessageType == MessageError; }
-    int             newMessageCount     () { return _currentMessageCount; }
-    int             messageCount        () { return _messageCount; }
-    QString         formatedMessages    ();
-    QString         formatedMessage     () { return _formatedMessage; }
-    QString         latestError         () { return _latestError; }
-    float           latitude            () { return _coordinate.latitude(); }
-    float           longitude           () { return _coordinate.longitude(); }
-    bool            mavPresent          () { return _mav != NULL; }
-    QString         currentState        () { return _currentState; }
-    int             rcRSSI              () { return _rcRSSI; }
-    bool            px4Firmware         () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
-    bool            apmFirmware         () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
-    bool            genericFirmware     () const { return !px4Firmware() && !apmFirmware(); }
-    bool            connectionLost      () const { return _connectionLost; }
-    bool            connectionLostEnabled() const { return _connectionLostEnabled; }
-    uint            messagesReceived    () { return _messagesReceived; }
-    uint            messagesSent        () { return _messagesSent; }
-    uint            messagesLost        () { return _messagesLost; }
-    bool            flying              () const { return _flying; }
-    bool            guidedMode          () const;
-    uint8_t         baseMode            () const { return _base_mode; }
-    uint32_t        customMode          () const { return _custom_mode; }
+    bool            messageTypeNone         () { return _currentMessageType == MessageNone; }
+    bool            messageTypeNormal       () { return _currentMessageType == MessageNormal; }
+    bool            messageTypeWarning      () { return _currentMessageType == MessageWarning; }
+    bool            messageTypeError        () { return _currentMessageType == MessageError; }
+    int             newMessageCount         () { return _currentMessageCount; }
+    int             messageCount            () { return _messageCount; }
+    QString         formatedMessages        ();
+    QString         formatedMessage         () { return _formatedMessage; }
+    QString         latestError             () { return _latestError; }
+    float           latitude                () { return _coordinate.latitude(); }
+    float           longitude               () { return _coordinate.longitude(); }
+    bool            mavPresent              () { return _mav != NULL; }
+    QString         currentState            () { return _currentState; }
+    int             rcRSSI                  () { return _rcRSSI; }
+    bool            px4Firmware             () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
+    bool            apmFirmware             () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
+    bool            genericFirmware         () const { return !px4Firmware() && !apmFirmware(); }
+    bool            connectionLost          () const { return _connectionLost; }
+    bool            connectionLostEnabled   () const { return _connectionLostEnabled; }
+    uint            messagesReceived        () { return _messagesReceived; }
+    uint            messagesSent            () { return _messagesSent; }
+    uint            messagesLost            () { return _messagesLost; }
+    bool            flying                  () const { return _flying; }
+    bool            guidedMode              () const;
+    uint8_t         baseMode                () const { return _base_mode; }
+    uint32_t        customMode              () const { return _custom_mode; }
+    bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
 
     Fact* roll              (void) { return &_rollFact; }
     Fact* heading           (void) { return &_headingFact; }
@@ -540,7 +544,8 @@ public:
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
-    ParameterLoader* getParameterLoader(void);
+    ParameterLoader* getParameterLoader(void) { return _parameterLoader; }
+    ParameterLoader* getParameterLoader(void) const { return _parameterLoader; }
 
     static const int cMaxRcChannels = 18;
 
@@ -697,9 +702,9 @@ private:
     QString _vehicleIdSpeech(void);
 
 private:
-    int     _id;            ///< Mavlink system id
+    int     _id;                    ///< Mavlink system id
     bool    _active;
-    bool    _disconnectedVehicle;   ///< This Vehicle is a "disconnected" vehicle for ui use when no active vehicle is available
+    bool    _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing
 
     MAV_AUTOPILOT       _firmwareType;
     MAV_TYPE            _vehicleType;

src/VehicleSetup/VehicleComponent.cc

@@ -49,8 +49,8 @@ void VehicleComponent::setupTriggerSignals(void)
 {
     // Watch for changed on trigger list params
     foreach (const QString &paramName, setupCompleteChangedTriggerList()) {
-        if (_autopilot->parameterExists(FactSystem::defaultComponentId, paramName)) {
-            Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
+        if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) {
+            Fact* fact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName);
             connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
         }
     }

src/qgcunittest/RadioConfigTest.cc

@@ -378,7 +378,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
                     switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
 
                     foreach (const QString &switchParam, switchList) {
-                        Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
+                        Q_ASSERT(_vehicle->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
                     }
                 }
                 
@@ -393,7 +393,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
         if (!found) {
             const char* paramName = _functionInfo()[function].parameterName;
             if (paramName) {
-                _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+                _rgFunctionChannelMap[function] = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
                 qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
                 if (_rgFunctionChannelMap[function] == 0) {
                     _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
@@ -469,8 +469,8 @@ void RadioConfigTest::_validateParameters(void)
         
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
-            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
-            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
+            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
         }
     }
 
@@ -485,13 +485,13 @@ void RadioConfigTest::_validateParameters(void)
         int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
         bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
 
-        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMinActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMaxActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcTrimActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
+        float rcReversedFloat = _vehicle->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
         QCOMPARE(convertOk, true);
         bool rcReversedActual = (rcReversedFloat == -1.0f);
         
@@ -515,7 +515,7 @@ void RadioConfigTest::_validateParameters(void)
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
             // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
-            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
+            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
         }
     }
 }

src/ui/QGCMapRCToParamDialog.cpp

@@ -30,9 +30,8 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->setupUi(this);
 
     // refresh the parameter from onboard to make sure the current value is used
-    AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin();
-    Q_ASSERT(autopilot);
-    Fact* paramFact = autopilot->getParameterFact(FactSystem::defaultComponentId, param_id);
+    Vehicle* vehicle = _multiVehicleManager->getVehicleById(mav->getUASID());
+    Fact* paramFact = vehicle->getParameterFact(FactSystem::defaultComponentId, param_id);
     
     ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
     ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
@@ -44,7 +43,7 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->paramIdLabel->setText(param_id);
 
     connect(paramFact, &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
-    autopilot->refreshParameter(FactSystem::defaultComponentId, param_id);
+    vehicle->autopilotPlugin()->refreshParameter(FactSystem::defaultComponentId, param_id);
 }
 
 QGCMapRCToParamDialog::~QGCMapRCToParamDialog()

src/ui/preferences/GeneralSettings.qml

@@ -125,7 +125,7 @@ QGCView {
                     anchors.horizontalCenter: parent.horizontalCenter
                     QGCLabel {
                         id:             offlineLabel
-                        text:           qsTr("Offline Mission Editing")
+                        text:           qsTr("Offline Mission Editing (Requires Restart)")
                         font.family:    ScreenTools.demiboldFontFamily
                     }
                 }