AutoPilot plugin restructuring for better QML support

- properties now hand off of main “autopilot” object in qml
- Added support for summary items through qml

files/qml/FactTextInput.qml

-import QtQuick 2.2
-import QtQuick.Controls 1.2
-import QGroundControl.FactSystem 1.0
-
-TextInput {
-    property Fact fact
-    text: fact.value
-    font.family: "Helvetica"
-    font.pointSize: 24
-    color: "red"
-    focus: true
-    onAccepted: { fact.value = text; }
-}

qml/QGroundControl/FactControls/SetupButton.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+
+Button {
+    text: "Button"
+    property bool setupComplete: false
+
+    property var summaryModel: ListModel {
+        ListElement { name: "Row 1"; state: "State 1" }
+        ListElement { name: "Row 2"; state: "State 2" }
+        ListElement { name: "Row 3"; state: "State 3" }
+    }
+
+    style: ButtonStyle {
+        id: buttonStyle
+        background: Rectangle {
+            id: innerRect
+            readonly property real titleHeight: 30
+
+            //property alias summaryModel: summaryList.model
+
+            border.color: "#888"
+            radius: 10
+
+            color: control.activeFocus ? "#47b" : "white"
+            opacity: control.hovered || control.activeFocus ? 1 : 0.75
+            Behavior on opacity {NumberAnimation{ duration: 100 }}
+
+            Text {
+                id: titleBar
+
+                width: parent.width
+                height: parent.titleHeight
+
+                verticalAlignment: TextEdit.AlignVCenter
+                horizontalAlignment: TextEdit.AlignHCenter
+
+                text: control.text
+                font.pixelSize: 12
+
+                Rectangle {
+                    id: setupIndicator
+
+                    property bool setupComplete: true
+                    readonly property real indicatorRadius: 6
+
+                    x: parent.width - (indicatorRadius * 2) - 5
+                    y: (parent.height - (indicatorRadius * 2)) / 2
+                    width: indicatorRadius * 2
+                    height: indicatorRadius * 2
+
+                    radius: indicatorRadius
+                    color: control.setupComplete ? "green" : "red"
+                }
+            }
+
+            Rectangle {
+                width: parent.width
+                height: parent.height - parent.titleHeight
+
+                y: parent.titleHeight
+
+                border.color: "#888"
+
+                gradient: Gradient {
+                    GradientStop { position: 0; color: "#ffffff" }
+                    GradientStop { position: 1; color: "#000000" }
+                }
+
+                ListView {
+                    id: summaryList
+                    anchors.fill: parent
+                    model: control.summaryModel
+                    delegate: Row {
+                        Text { text: modelData.name }
+                        Text { text: modelData.state }
+                    }
+                }
+            }
+        }
+
+    label: Item {}
+    }
+}
+
+/*
+Rectangle {
+    readonly property real titleHeight: 30
+
+    property alias title: titleBar.text
+    property alias setupComplete: setupIndicator.setupComplete
+    //property alias summaryModel: summaryList.model
+
+    border.color: "#888"
+    radius: 10
+
+    gradient: Gradient {
+        GradientStop { position: 0 ; color: "#cccccc" }
+        GradientStop { position: 1 ; color: "#aaa" }
+    }
+
+    Text {
+        id: titleBar
+
+        width: parent.width
+        height: parent.titleHeight
+
+        verticalAlignment: TextEdit.AlignVCenter
+        horizontalAlignment: TextEdit.AlignHCenter
+
+        text: qsTr("TITLE")
+        font.pixelSize: 12
+
+        Rectangle {
+            id: setupIndicator
+
+            property bool setupComplete: true
+            readonly property real indicatorRadius: 6
+
+            x: parent.width - (indicatorRadius * 2) - 5
+            y: (parent.height - (indicatorRadius * 2)) / 2
+            width: indicatorRadius * 2
+            height: indicatorRadius * 2
+
+            radius: indicatorRadius
+            color: setupComplete ? "green" : "red"
+        }
+    }
+
+    Rectangle {
+        width: parent.width
+        height: parent.height - parent.titleHeight
+
+        y: parent.titleHeight
+
+        border.color: "#888"
+
+        gradient: Gradient {
+            GradientStop {
+                position: 0
+                color: "#ffffff"
+            }
+
+            GradientStop {
+                position: 1
+                color: "#000000"
+            }
+        }
+
+        ListView {
+            id: summaryList
+            anchors.fill: parent
+            model: ListModel {
+                        ListElement { name: "Row 1"; state: "State 1" }
+                        ListElement { name: "Row 2"; state: "State 2" }
+                        ListElement { name: "Row 3"; state: "State 3" }
+            }
+            delegate: Row { Text { text: modelData.name } Text { text: modelData.state } }
+        }
+    }
+}
+*/
\ No newline at end of file

files/qml/qmldir → qml/QGroundControl/FactControls/qmldir

 Module QGroundControl.FactControls
-FactTextInput 1.0 FactTextInput.qml
+SetupButton 1.0 SetupButton.qml
\ No newline at end of file

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -48,18 +48,14 @@ class AutoPilotPlugin : public QObject
     Q_OBJECT
 
 public:
-    /// @brief Returns the list of VehicleComponent objects associated with the AutoPilot.
-    virtual QList<VehicleComponent*> getVehicleComponents(void) const = 0;
+    Q_PROPERTY(QVariantMap parameters READ parameters CONSTANT)
+    Q_PROPERTY(QVariantList components READ components CONSTANT)
+    Q_PROPERTY(QUrl setupBackgroundImage READ setupBackgroundImage CONSTANT)
     
-    /// Returns the parameter facts for the specified UAS.
-    ///
-    /// Key is parameter name. Get Fact object like this: _mapParameterName2Variant["RC_MAP_THROTTLE"].value<Fact*>().
-    /// You should not request parameter facts until the plugin reports that it is ready.
-    virtual const QVariantMap& parameterFacts(void) const = 0;
-    
-    /// Adds the FactSystem properties to the Qml context. You should not call
-    /// this method until the plugin reports that it is ready.
-    virtual void addFactsToQmlContext(QQmlContext* context) const = 0;
+    // Property accessors
+    virtual const QVariantList& components(void) = 0;
+    virtual const QVariantMap& parameters(void) = 0;    
+    virtual QUrl setupBackgroundImage(void) = 0;
     
     /// Returns true if the plugin is ready for use
     virtual bool pluginIsReady(void) const = 0;
@@ -72,8 +68,9 @@ signals:
     void pluginReady(void);
     
 protected:
-    // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
+    /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
     AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
+    
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -32,12 +32,6 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* paren
     Q_UNUSED(uas);
 }
 
-QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(void) const
-{
-    // Generic autopilot has no configurable components
-    return QList<VehicleComponent*>();
-}
-
 QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
 {
     AutoPilotPluginManager::FullMode_t fullMode;
@@ -83,13 +77,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
     return mode;
 }
 
-void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
+void GenericAutoPilotPlugin::clearStaticData(void)
 {
-    Q_UNUSED(context);
+    // No Static data yet
+}
+
+const QVariantList& GenericAutoPilotPlugin::components(void)
+{
+    static QVariantList staticList;
+    
     Q_ASSERT_X(false, "Not yet implemented", "");
+    return staticList;
 }
 
-const QVariantMap& GenericAutoPilotPlugin::parameterFacts(void) const
+const QVariantMap& GenericAutoPilotPlugin::parameters(void)
 {
     static QVariantMap staticMap;
     
@@ -97,7 +98,10 @@ const QVariantMap& GenericAutoPilotPlugin::parameterFacts(void) const
     return staticMap;
 }
 
-void GenericAutoPilotPlugin::clearStaticData(void)
+QUrl GenericAutoPilotPlugin::setupBackgroundImage(void)
 {
-    // No Static data yet
+    static QUrl url;
+    
+    Q_ASSERT_X(false, "Not yet implemented", "");
+    return url;
 }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -40,14 +40,16 @@ public:
     GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
-    virtual void addFactsToQmlContext(QQmlContext* context) const;
-    virtual const QVariantMap& parameterFacts(void) const;
     virtual bool pluginIsReady(void) const { return true; }
+    virtual QUrl setupBackgroundImage(void);
+    virtual const QVariantList& components(void);
+    virtual const QVariantMap& parameters(void);
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);
+    
+protected:
 };
 
 #endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -26,6 +26,7 @@
 
 #include "AirframeComponent.h"
 #include "QGCPX4AirframeConfig.h"
+#include "VehicleComponentSummaryItem.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "SYS_AUTOSTART", NULL };
@@ -161,56 +162,65 @@ QWidget* AirframeComponent::setupWidget(void) const
     return new QGCPX4AirframeConfig;
 }
 
-QList<QStringList> AirframeComponent::summaryItems(void) const
+const QVariantList& AirframeComponent::summaryItems(void)
 {
+    // Fill the items on first reference
+    // FIXME: These items are not live
+    
+    if (!_summaryItems.count()) {
+        QString name;
+        QString state;
         QVariant value;
-    QStringList row;
-    QList<QStringList> items;
         
-    row << "System ID:";
+        name = "System ID:";
         if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "MAV_SYS_ID", value)) {
             if (value.toInt() == 0) {
-            row << "Setup required";
+                state = "Setup required";
             } else {
-            row << value.toString();
+                state = value.toString();
             }
         } else {
             // Why is the parameter missing?
             Q_ASSERT(false);
         }
-    items << row;
         
-    row.clear();
-    row << "Airframe:";
+        VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+        
+        name = "Airframe:";
         if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SYS_AUTOSTART", value)) {
             if (value.toInt() == 0) {
-            row << "Setup required";
+                state = "Setup required";
             } else {
-            row << value.toString();
+                state = value.toString();
             }
         } else {
             // Why is the parameter missing?
             Q_ASSERT(false);
         }
-    items << row;
 
-    row.clear();
-    row << "Type:";
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+        
+        name = "Type:";
         if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "MAV_TYPE", value)) {
             int index = value.toInt();
             
             if (index < 0 || index >= (int)cMavTypes) {
-            row << "Unknown";
+                state = "Unknown";
             } else {
-            row << mavTypeInfo[index].description;
+                state = mavTypeInfo[index].description;
             }
         } else {
             // Why is the parameter missing?
             Q_ASSERT(false);
-        row << "Unknown";
+            state = "Unknown";
+        }
+
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
     }
-    items << row;
         
-    return items;
+    return _summaryItems;
 }
 

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -49,10 +49,11 @@ public:
     virtual QString setupStateDescription(void) const;
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
-    virtual QList<QStringList> summaryItems(void) const;
+    virtual const QVariantList& summaryItems(void);
 
 private:
     const QString   _name;
+    QVariantList     _summaryItems;
 };
 
 #endif

src/AutoPilotPlugins/PX4/FlightModeConfig.ui

@@ -6,27 +6,28 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>831</width>
-    <height>1286</height>
+    <width>642</width>
+    <height>645</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>642</width>
+    <height>645</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QLabel" name="label_8">
-     <property name="font">
-      <font>
-       <pointsize>22</pointsize>
-      </font>
-     </property>
      <property name="text">
       <string>This implementation is a work in progress. Visuals are meant to be functional only. Active display of switch positions is not yet implemented. If this entire screen is disabled, you must do a Radio Calibration before settings Flight Modes.</string>
      </property>
@@ -205,19 +206,6 @@
            </attribute>
           </widget>
          </item>
-         <item>
-          <spacer name="verticalSpacer_3">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
         </layout>
        </item>
        <item row="1" column="1">

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -26,6 +26,7 @@
 
 #include "FlightModesComponent.h"
 #include "FlightModeConfig.h"
+#include "VehicleComponentSummaryItem.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
@@ -116,17 +117,18 @@ QWidget* FlightModesComponent::setupWidget(void) const
     return new FlightModeConfig();
 }
 
-QList<QStringList> FlightModesComponent::summaryItems(void) const
+const QVariantList& FlightModesComponent::summaryItems(void)
 {
-    QList<QStringList> items;
+    if (!_summaryItems.count()) {
 
         // Create summary items for each mode switch
         
         for (size_t i=0; i<cSwitchList; i++) {
+            QString name;
+            QString state;
             QVariant value;
-        QStringList row;
             
-        row << switchList[i].name;
+            name = switchList[i].name;
             
             if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), switchList[i].param, value)) {
                 int chan = value.toInt();
@@ -136,21 +138,23 @@ QList<QStringList> FlightModesComponent::summaryItems(void) const
                     if (i == 0) {
                         // Mode switch is required
                         Q_ASSERT(strcmp(switchList[0].param, "RC_MAP_MODE_SW") == 0);
-                    row << "Setup required";
+                        state = "Setup required";
                     } else {
-                    row << "None";
+                        state = "None";
                     }
                 } else {
-                row << tr("Chan %1").arg(chan);
+                    state = tr("Chan %1").arg(chan);
                 }
             } else {
                 // Why is the parameter missing?
                 Q_ASSERT(false);
-            row << "Unknown";
+                state = "Unknown";
             }
             
-        items << row;
+            VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+            _summaryItems.append(QVariant::fromValue(item));
+        }
     }
     
-    return items;
+    return _summaryItems;
 }

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -49,10 +49,11 @@ public:
     virtual QString setupStateDescription(void) const;
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
-    virtual QList<QStringList> summaryItems(void) const;
+    virtual const QVariantList& summaryItems(void);
     
 private:
     const QString   _name;
+    QVariantList    _summaryItems;
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -86,33 +86,6 @@ PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
     PX4ParameterFacts::deleteParameterFactMetaData();
 }
 
-QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(void) const
-{
-    Q_ASSERT(_uas);
-    
-    QList<VehicleComponent*> components;
-    
-    VehicleComponent* component;
-    
-    component = new AirframeComponent(_uas);
-    Q_CHECK_PTR(component);
-    components.append(component);
-    
-    component = new RadioComponent(_uas);
-    Q_CHECK_PTR(component);
-    components.append(component);
-    
-    component = new FlightModesComponent(_uas);
-    Q_CHECK_PTR(component);
-    components.append(component);
-    
-    component = new SensorsComponent(_uas);
-    Q_CHECK_PTR(component);
-    components.append(component);
-    
-    return components;
-}
-
 QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
 {
     union px4_custom_mode                       px4_cm;
@@ -206,21 +179,49 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
     return mode;
 }
 
-void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
+void PX4AutoPilotPlugin::clearStaticData(void)
 {
-    Q_ASSERT(context);
+    PX4ParameterFacts::clearStaticData();
+}
 
-    Q_ASSERT(_parameterFacts->factsAreReady());
+bool PX4AutoPilotPlugin::pluginIsReady(void) const
+{
+    return _parameterFacts->factsAreReady();
+}
+
+const QVariantList& PX4AutoPilotPlugin::components(void)
+{
+    if (_components.count() == 0) {
+        VehicleComponent* component;
+
+        Q_ASSERT(_uas);
+        
+        component = new AirframeComponent(_uas);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+        
+        component = new RadioComponent(_uas);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+        
+        component = new FlightModesComponent(_uas);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+        
+        component = new SensorsComponent(_uas);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+    }
     
-    context->setContextProperty("parameters", _parameterFacts->factMap());
+    return _components;
 }
 
-void PX4AutoPilotPlugin::clearStaticData(void)
+const QVariantMap& PX4AutoPilotPlugin::parameters(void)
 {
-    PX4ParameterFacts::clearStaticData();
+    return _parameterFacts->factMap();
 }
 
-bool PX4AutoPilotPlugin::pluginIsReady(void) const
+QUrl PX4AutoPilotPlugin::setupBackgroundImage(void)
 {
-    return _parameterFacts->factsAreReady();
+    return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png");
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -29,6 +29,8 @@
 #include "UASInterface.h"
 #include "PX4ParameterFacts.h"
 
+#include <QImage>
+
 /// @file
 ///     @brief This is the PX4 specific implementation of the AutoPilot class.
 ///     @author Don Gagne <don@thegagnes.com>
@@ -42,10 +44,10 @@ public:
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
-    virtual void addFactsToQmlContext(QQmlContext* context) const;
-    virtual const QVariantMap& parameterFacts(void) const { return _parameterFacts->factMap(); }
     virtual bool pluginIsReady(void) const;
+    virtual const QVariantList& components(void);
+    virtual const QVariantMap& parameters(void);
+    virtual QUrl setupBackgroundImage(void);
 
     static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
@@ -55,6 +57,7 @@ private:
     UASInterface*       _uas;
     PX4ParameterFacts*  _parameterFacts;
     bool                _pluginReady;
+    QVariantList        _components;
 };
 
 #endif

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -26,6 +26,7 @@
 
 #include "RadioComponent.h"
 #include "PX4RCCalibration.h"
+#include "VehicleComponentSummaryItem.h"
 
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
@@ -100,15 +101,18 @@ QWidget* RadioComponent::setupWidget(void) const
     return new PX4RCCalibration;
 }
 
-QList<QStringList> RadioComponent::summaryItems(void) const
+const QVariantList& RadioComponent::summaryItems(void)
 {
-    QList<QStringList> items;
-    
-    QStringList row;
+    if (!_summaryItems.count()) {
+        QString name;
+        QString state;
         
         // FIXME: Need to pull receiver type from RSSI value
-    row << "Receiver type:" << "n/a";
-    items << row;
+        name = "Receiver type:";
+        state = "n/a";
+
+        VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
         
         static const char* stickParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE" };
         
@@ -139,9 +143,12 @@ QList<QStringList> RadioComponent::summaryItems(void) const
             summary = "Not mapped";
         }
 
-    row.clear();
-    row << "Ail, Ele, Rud, Throt:" << summary;
-    items << row;
+        name = "Ail, Ele, Rud, Throt:";
+        state = summary;
+        
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+    }
     
-    return items;
+    return _summaryItems;
 }

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -50,10 +50,11 @@ public:
     virtual QString setupStateDescription(void) const;
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
-    virtual QList<QStringList> summaryItems(void) const;
+    virtual const QVariantList& summaryItems(void);
     
 private:
     const QString   _name;
+    QVariantList    _summaryItems;
 };
 
 #endif

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -26,6 +26,7 @@
 
 #include "SensorsComponent.h"
 #include "QGCPX4SensorCalibration.h"
+#include "VehicleComponentSummaryItem.h"
 
 // These two list must be kept in sync
 
@@ -116,30 +117,33 @@ QWidget* SensorsComponent::setupWidget(void) const
     return new QGCPX4SensorCalibration;
 }
 
-QList<QStringList> SensorsComponent::summaryItems(void) const
+const QVariantList& SensorsComponent::summaryItems(void)
 {
-    QList<QStringList> items;
+    if (!_summaryItems.count()) {
+        QString name;
+        QString state;
         
         // Summary item for each Sensor
         
         int i = 0;
         while (triggerParams[i] != NULL) {
             QVariant value;
-        QStringList row;
             
-        row << tr("%1:").arg(triggerSensors[i]);
+            name = tr("%1:").arg(triggerSensors[i]);
             
             if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParams[i], value)) {
                 if (value.toFloat() == 0.0f) {
-                row << "Setup required";
+                    state = "Setup required";
                 } else {
-                row << "Ready";
+                    state = "Ready";
                 }
             } else {
                 // Why is the parameter missing?
                 Q_ASSERT(false);
             }
-        items << row;
+
+            VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+            _summaryItems.append(QVariant::fromValue(item));
             
             i++;
         }
@@ -195,27 +199,26 @@ QList<QStringList> SensorsComponent::summaryItems(void) const
         
         for (size_t i=0; i<cOrientationSensors; i++) {
             QVariant value;
-        QStringList row;
-        
-        row.clear();
             
-        row << orientationSensors[i];
+            name = orientationSensors[i];
             
             if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), orientationParams[i], value)) {
                 int index = value.toInt();
                 if (index < 0 || index >= (int)cOrientationValues) {
-                row << "Setup required";
+                    state = "Setup required";
                 } else {
-                row << orientationValues[index];
+                    state = orientationValues[index];
                 }
             } else {
                 // Why is the parameter missing?
                 Q_ASSERT(false);
-            row << "Unknown";
+                state = "Unknown";
             }
             
-        items << row;
+            VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+            _summaryItems.append(QVariant::fromValue(item));
+        }
     }
     
-    return items;
+    return _summaryItems;
 }

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -49,10 +49,11 @@ public:
     virtual QString setupStateDescription(void) const;
     virtual QWidget* setupWidget(void) const;
     virtual QStringList paramFilterList(void) const;
-    virtual QList<QStringList> summaryItems(void) const;
+    virtual const QVariantList& summaryItems(void);
     
 private:
     const QString   _name;
+    QVariantList    _summaryItems;
 };
 
 #endif

src/FactSystem/FactSystem.cc

@@ -27,6 +27,7 @@
 #include "FactSystem.h"
 #include "UASManager.h"
 #include "QGCApplication.h"
+#include "VehicleComponent.h"
 
 #include <QtQml>
 
@@ -39,6 +40,10 @@ FactSystem::FactSystem(QObject* parent) :
 {
     qmlRegisterType<Fact>(_factSystemQmlUri, 1, 0, "Fact");
     qmlRegisterType<FactValidator>(_factSystemQmlUri, 1, 0, "FactValidator");
+    
+    // FIXME: Where should this go? Also creation string
+    qmlRegisterUncreatableType<VehicleComponent>(_factSystemQmlUri, 1, 0, "VehicleComponent", "Can only reference VehicleComponent");
+    qmlRegisterUncreatableType<VehicleComponent>(_factSystemQmlUri, 1, 0, "VehicleComponentSummaryItem", "Can only reference VehicleComponentSummaryItem");
 }
 
 FactSystem::~FactSystem()

src/FactSystem/FactSystemTest.cc

@@ -90,13 +90,7 @@ void FactSystemTest::_parameter_test(void)
 {
     // Get the parameter facts from the AutoPilot
     
-    AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
-    Q_ASSERT(pluginMgr);
-    
-    AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
-    Q_ASSERT(plugin);
-    
-    const QVariantMap& parameterFacts = plugin->parameterFacts();
+    const QVariantMap& parameterFacts = _plugin->parameters();
     
     // Compare the value in the Parameter Manager with the value from the FactSystem
     
@@ -116,6 +110,8 @@ void FactSystemTest::_qml_test(void)
 {
     QGCQuickWidget* widget = new QGCQuickWidget;
     
+    widget->setAutoPilot(_plugin);
+    
     widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
     
     QQuickItem* rootObject = widget->rootObject();
@@ -134,13 +130,7 @@ void FactSystemTest::_paramMgrSignal_test(void)
 {
     // Get the parameter Fact from the AutoPilot
     
-    AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
-    Q_ASSERT(pluginMgr);
-    
-    AutoPilotPlugin* plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
-    Q_ASSERT(plugin);
-    
-    const QVariantMap& parameterFacts = plugin->parameterFacts();
+    const QVariantMap& parameterFacts = _plugin->parameters();
     
     Fact* fact = parameterFacts["RC_MAP_THROTTLE"].value<Fact*>();
     QVERIFY(fact != NULL);
@@ -170,6 +160,8 @@ void FactSystemTest::_qmlUpdate_test(void)
 {
     QGCQuickWidget* widget = new QGCQuickWidget;
     
+    widget->setAutoPilot(_plugin);
+    
     widget->setSource(QUrl::fromUserInput("qrc:unittest/FactSystemTest.qml"));
     
     // Change the value using param manager

src/FactSystem/FactSystemTest.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
-import QGroundControlFactControls 1.0
 
 Item {
     TextInput {
         objectName: "testControl"
-        text: parameters["RC_MAP_THROTTLE"].value
+        text: autopilot.parameters["RC_MAP_THROTTLE"].value
         font.family: "Helvetica"
         font.pointSize: 24
         color: "red"
         focus: true
-        onAccepted: { parameters["RC_MAP_THROTTLE"].value = text; }
+        onAccepted: { autopilot.parameters["RC_MAP_THROTTLE"].value = text; }
     }
 }
\ No newline at end of file

src/QGCQuickWidget.cc

@@ -22,7 +22,6 @@
  ======================================================================*/
 
 #include "QGCQuickWidget.h"
-#include "UASManager.h"
 #include "AutoPilotPluginManager.h"
 
 #include <QQmlContext>
@@ -37,13 +36,10 @@
 QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     QQuickWidget(parent)
 {
-    UASManagerInterface* uasMgr = UASManager::instance();
-    Q_ASSERT(uasMgr);
-    
-    UASInterface* uas = uasMgr->getActiveUAS();
-    Q_ASSERT(uas);
-    
     rootContext()->engine()->addImportPath("qrc:/qml");
+}
 
-    AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas)->addFactsToQmlContext(rootContext());
+void QGCQuickWidget::setAutoPilot(AutoPilotPlugin* autoPilot)
+{
+    rootContext()->setContextProperty("autopilot", autoPilot);
 }

src/QGCQuickWidget.h

@@ -26,7 +26,7 @@
 
 #include <QQuickWidget>
 
-#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
 
 /// @file
 ///     @brief Subclass of QQuickWidget which injects Facts and the Pallete object into
@@ -39,7 +39,9 @@ class QGCQuickWidget : public QQuickWidget {
     
 public:
     QGCQuickWidget(QWidget* parent = NULL);
-};
     
+    /// Sets the UAS into the widget which in turn will load facts into the context
+    void setAutoPilot(AutoPilotPlugin* autoPilot);
+};
 
 #endif

src/VehicleSetup/VehicleComponent.cc

@@ -38,3 +38,20 @@ VehicleComponent::~VehicleComponent()
 {
     
 }
+
+void VehicleComponent::addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent)
+{
+    Q_ASSERT(context);
+    
+    // FIXME: We own this object now, need to delete somewhere
+    QQmlComponent component(context->engine(), QUrl::fromUserInput("qrc:/qml/VehicleComponentSummaryButton.qml"));
+    if (component.status() == QQmlComponent::Error) {
+        qDebug() << component.errors();
+        Q_ASSERT(false);
+    }
+    
+    QQuickItem* item = qobject_cast<QQuickItem*>(component.create(context));
+    Q_ASSERT(item);
+    item->setParentItem(parent);
+    item->setProperty("vehicleComponent", QVariant::fromValue(this));
+}

src/VehicleSetup/VehicleComponent.h

@@ -25,6 +25,8 @@
 #define VEHICLECOMPONENT_H
 
 #include <QObject>
+#include <QQmlContext>
+#include <QQuickItem>
 
 #include "UASInterface.h"
 
@@ -37,6 +39,7 @@
 class VehicleComponent : public QObject
 {
     Q_OBJECT
+    
     Q_PROPERTY(QString name READ name CONSTANT)
     Q_PROPERTY(QString description READ description CONSTANT)
     Q_PROPERTY(bool requiresSetup READ requiresSetup CONSTANT)
@@ -44,6 +47,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QString setupStateDescription READ setupStateDescription STORED false)
     Q_PROPERTY(QString icon READ icon CONSTANT)
     Q_PROPERTY(QWidget* setupWidget READ setupWidget STORED false)
+    Q_PROPERTY(QVariantList summaryItems READ summaryItems CONSTANT);
     
 public:
     VehicleComponent(UASInterface* uas, QObject* parent = NULL);
@@ -57,7 +61,9 @@ public:
     virtual QString setupStateDescription(void) const = 0;
     virtual QWidget* setupWidget(void) const = 0;
     virtual QStringList paramFilterList(void) const = 0;
-    virtual QList<QStringList> summaryItems(void) const = 0;
+    virtual const QVariantList& summaryItems(void) = 0;
+    
+    virtual void addSummaryQmlComponent(QQmlContext* context, QQuickItem* parent);
     
 signals:
     void setupCompleteChanged(void);

src/VehicleSetup/VehicleComponentSummaryButton.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QGroundControlFactControls 1.0
+
+SetupButton {
+    width: 300
+    height: 200
+    title: vehicleComponent.name
+}

src/VehicleSetup/VehicleComponentSummaryItem.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "VehicleComponentSummaryItem.h"
+
+VehicleComponentSummaryItem::VehicleComponentSummaryItem(const QString& name, const QString& state, QObject* parent) :
+    QObject(parent),
+    _name(name),
+    _state(state)
+{
+    
+}

src/VehicleSetup/VehicleComponentSummaryItem.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef VehicleComponentSummaryItem_H
+#define VehicleComponentSummaryItem_H
+
+#include <QObject>
+#include <QQmlContext>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+
+/// @file
+///     @brief Vehicle Component class. A vehicle component is an object which
+///             abstracts the physical portion of a vehicle into a set of
+///             configurable values and user interface.
+///     @author Don Gagne <don@thegagnes.com>
+
+class VehicleComponentSummaryItem : public QObject
+{
+    Q_OBJECT
+    
+    Q_PROPERTY(QString name READ name CONSTANT)
+    Q_PROPERTY(QString state READ state CONSTANT)
+    
+public:
+    VehicleComponentSummaryItem(const QString& name, const QString& state, QObject* parent = NULL);
+    
+    QString name(void) const { return _name; }
+    QString state(void) const { return _state; }
+    
+protected:
+    QString _name;
+    QString _state;
+};
+
+#endif

src/test.qml

+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+//import QGroundControl.FactControls 1.0
+
+Row {
+width: 200
+Text { id: firstCol; text: "Col 1" }
+Text { horizontalAlignment: Text.AlignRight; width: parent.width - firstCol.contentWidth; text: "Col 2" }
+}