Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into apm_support

.appveyor.yml

@@ -2,7 +2,7 @@
 environment:
   matrix:
   - BUILD: 'Release'
-    CONFIG: release
+    CONFIG: installer
   - BUILD: 'Debug'
     CONFIG: debug
 
@@ -11,11 +11,33 @@ install:
   - call "%ProgramFiles(x86)%\Microsoft Visual Studio 12.0\VC\vcvarsall.bat" x86
   - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.4\msvc2013_opengl\bin;%PATH%
   - mkdir %LOCALAPPDATA%\QtProject && copy test\qtlogging.ini %LOCALAPPDATA%\QtProject\
+  - cinst nsis -y -installArgs /D="%programfiles(x86)%\NSIS"
 
 build_script:
-   - C:\Qt\5.4\msvc2013_opengl\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn qgroundcontrol.pro
-   - jom -j 2
+  - C:\Qt\5.4\msvc2013_opengl\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn qgroundcontrol.pro
+  - jom -j 4
 
 test_script:
-#  - if "%CONFIG%" EQU "debug" ( debug\qgroundcontrol --unittest )
+  - if "%CONFIG%" EQU "debug" ( debug\qgroundcontrol --unittest )
+
+after_build:
+  - if "%CONFIG%" EQU "installer" ( appveyor PushArtifact C:\projects\qgroundcontrol\release\qgroundcontrol-installer-win32.exe )
+
+deploy:
+  - provider: S3
+    name: qgroundcontrol-s3
+    access_key_id: AKIAIVORNALE7NHD3T6Q
+    secret_access_key:
+      secure: RiYqaR+3T2PMNz2j5ur8LCA6H/Zfd4jTX33CZE5iBxm+zaz4QLs25p0B7prpaoNN
+    bucket: qgrondcontrol
+    set_public: true
+    folder: "%APPVEYOR_REPO_BRANCH%"
+    artifact: C:\projects\qgroundcontrol\release\qgroundcontrol-installer-win32.exe
+ 
+  - provider: GitHub
+    artifact: C:\projects\qgroundcontrol\release\qgroundcontrol-installer-win32.exe
+    draft: false
+    prerelease: false
+    on:
+      appveyor_repo_tag: true
 

.travis.yml

@@ -17,10 +17,10 @@ matrix:
           env: SPEC=linux-g++-64 CONFIG=installer
           sudo: true
         - os: osx
-          osx_image: beta-xcode6.3
+          osx_image: xcode7
           env: SPEC=macx-clang CONFIG=debug
         - os: osx
-          osx_image: beta-xcode6.3
+          osx_image: xcode7
           env: SPEC=macx-clang CONFIG=installer
         - os: android
           language: android
@@ -44,6 +44,7 @@ before_install:
   - cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --tags
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then mkdir -p ~/.config/QtProject/ && cp ${TRAVIS_BUILD_DIR}/test/qtlogging.ini ~/.config/QtProject/; fi
   - if [ "${TRAVIS_OS_NAME}" = "osx" ]; then mkdir -p ~/Library/Preferences/QtProject/ && cp ${TRAVIS_BUILD_DIR}/test/qtlogging.ini ~/Library/Preferences/QtProject/; fi
+  - if [ "${TRAVIS_OS_NAME}" = "android" ]; then wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-android-armv7-1.5.2.tar.bz2 && mkdir -p ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2 && tar jxf gstreamer-1.0-android-armv7-1.5.2.tar.bz2 -C ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2; fi
 
 install:
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then

QGCApplication.pro

@@ -264,6 +264,7 @@ HEADERS += \
     src/QmlControls/MavlinkQmlSingleton.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
+    src/QmlControls/QGroundControlQmlGlobal.h \
     src/QmlControls/QmlObjectListModel.h \
     src/SerialPortIds.h \
     src/uas/FileManager.h \
@@ -335,7 +336,6 @@ HEADERS += \
     src/ui/WaypointViewOnlyView.h \
     src/ViewWidgets/CustomCommandWidget.h \
     src/ViewWidgets/CustomCommandWidgetController.h \
-    src/ViewWidgets/ParameterEditorWidget.h \
     src/ViewWidgets/ViewWidgetController.h \
     src/MissionItem.h \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.h
@@ -395,6 +395,7 @@ SOURCES += \
     src/QGCTemporaryFile.cc \
     src/QmlControls/ParameterEditorController.cc \
     src/QmlControls/ScreenToolsController.cc \
+    src/QmlControls/QGroundControlQmlGlobal.cc \
     src/QmlControls/QmlObjectListModel.cc \
     src/uas/FileManager.cc \
     src/uas/UAS.cc \
@@ -464,7 +465,6 @@ SOURCES += \
     src/ui/WaypointViewOnlyView.cc \
     src/ViewWidgets/CustomCommandWidget.cc \
     src/ViewWidgets/CustomCommandWidgetController.cc \
-    src/ViewWidgets/ParameterEditorWidget.cc \
     src/ViewWidgets/ViewWidgetController.cc \
     src/MissionItem.cc \
     src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc
@@ -578,6 +578,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/SensorsComponentController.h \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
+    src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/Vehicle/MultiVehicleManager.h \
@@ -614,6 +615,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
+    src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \

QGCCommon.pri

@@ -157,7 +157,7 @@ MacBuild {
     CONFIG += x86_64
     CONFIG -= x86
     QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
-    QMAKE_MAC_SDK = macosx10.9
+    QMAKE_MAC_SDK = macosx10.11
 }
 
 LinuxBuild {

qgroundcontrol.qrc

@@ -110,7 +110,6 @@
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
 
         <file alias="ScreenToolsFontQuery.qml">src/QmlControls/ScreenToolsFontQuery.qml</file>
-        <file alias="ParameterEditorWidget.qml">src/ViewWidgets/ParameterEditorWidget.qml</file>
         <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -157,9 +157,9 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
     return NULL;
 }
 
-QStringList AutoPilotPlugin::parameterNames(void)
+QStringList AutoPilotPlugin::parameterNames(int componentId)
 {
-	return _getParameterLoader()->parameterNames();
+	return _getParameterLoader()->parameterNames(componentId);
 }
 
 const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -81,8 +81,7 @@ public:
     Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
 	
 	/// Returns all parameter names
-	/// FIXME: component id missing, generic to fact
-	QStringList parameterNames(void);
+	QStringList parameterNames(int componentId);
 	
 	/// 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 existince first with

src/FactSystem/FactSystemTestGeneric.cc

@@ -38,5 +38,5 @@ FactSystemTestGeneric::FactSystemTestGeneric(void)
 void FactSystemTestGeneric::init(void)
 {
     UnitTest::init();
-    _init(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    _init(MAV_AUTOPILOT_GENERIC);
 }

src/FactSystem/ParameterLoader.cc

@@ -30,6 +30,7 @@
 #include "QGCApplication.h"
 #include "QGCMessageBox.h"
 #include "UASMessageHandler.h"
+#include "FirmwarePlugin.h"
 
 #include <QFile>
 #include <QDebug>
@@ -387,11 +388,11 @@ Fact* ParameterLoader::getFact(int componentId, const QString& name)
     return _mapParameterName2Variant[componentId][name].value<Fact*>();
 }
 
-QStringList ParameterLoader::parameterNames(void)
+QStringList ParameterLoader::parameterNames(int componentId)
 {
 	QStringList names;
 	
-	foreach(QString paramName, _mapParameterName2Variant[_defaultComponentId].keys()) {
+	foreach(QString paramName, _mapParameterName2Variant[_actualComponentId(componentId)].keys()) {
 		names << paramName;
 	}
 	
@@ -499,8 +500,6 @@ void ParameterLoader::_readParameterRaw(int componentId, const QString& paramNam
 
 void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
 {
-    bool floatHack = _vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA;
-
     mavlink_param_set_t     p;
     mavlink_param_union_t   union_value;
     
@@ -509,43 +508,23 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
     
     switch (factType) {
         case FactMetaData::valueTypeUint8:
-            if (floatHack) {
-                union_value.param_float = (uint8_t)value.toUInt();
-            } else {                
-                union_value.param_uint8 = (uint8_t)value.toUInt();
-            }
+            union_value.param_uint8 = (uint8_t)value.toUInt();
             break;
             
         case FactMetaData::valueTypeInt8:
-            if (floatHack) {
-                union_value.param_float = (int8_t)value.toInt();
-            } else {
-                union_value.param_int8 = (int8_t)value.toInt();
-            }
+            union_value.param_int8 = (int8_t)value.toInt();
             break;
             
         case FactMetaData::valueTypeUint16:
-            if (floatHack) {
-                union_value.param_float = (uint16_t)value.toUInt();
-            } else {
-                union_value.param_uint16 = (uint16_t)value.toUInt();
-            }
+            union_value.param_uint16 = (uint16_t)value.toUInt();
             break;
             
         case FactMetaData::valueTypeInt16:
-            if (floatHack) {
-                union_value.param_float = (int16_t)value.toInt();
-            } else {
-                union_value.param_int16 = (int16_t)value.toInt();
-            }
+            union_value.param_int16 = (int16_t)value.toInt();
             break;
             
         case FactMetaData::valueTypeUint32:
-            if (floatHack) {
-                union_value.param_float = (uint32_t)value.toUInt();
-            } else {
-                union_value.param_uint32 = (uint32_t)value.toUInt();
-            }
+            union_value.param_uint32 = (uint32_t)value.toUInt();
             break;
             
         case FactMetaData::valueTypeFloat:
@@ -557,11 +536,7 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
             // fall through
             
         case FactMetaData::valueTypeInt32:
-            if (floatHack) {
-                union_value.param_float = (int32_t)value.toInt();
-            } else {
-                union_value.param_int32 = (int32_t)value.toInt();
-            }
+            union_value.param_int32 = (int32_t)value.toInt();
             break;
     }
     
@@ -578,10 +553,14 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
 
 void ParameterLoader::_saveToEEPROM(void)
 {
-    mavlink_message_t msg;
-    mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
-    _vehicle->sendMessage(msg);
-    qCDebug(ParameterLoaderLog) << "_saveToEEPROM";
+    if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
+        mavlink_message_t msg;
+        mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+        _vehicle->sendMessage(msg);
+        qCDebug(ParameterLoaderLog) << "_saveToEEPROM";
+    } else {
+        qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";
+    }
 }
 
 QString ParameterLoader::readParametersFromStream(QTextStream& stream)

src/FactSystem/ParameterLoader.h

@@ -69,8 +69,7 @@ public:
 						 const QString& name);          ///< fact name
 	
 	/// Returns all parameter names
-	/// FIXME: component id missing
-	QStringList parameterNames(void);
+	QStringList parameterNames(int componentId);
     
     /// Returns the specified Fact.
     /// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existince first with

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "APMFirmwarePlugin.h"
+#include "Generic/GenericFirmwarePlugin.h"
+
+#include <QDebug>
+
+IMPLEMENT_QGC_SINGLETON(APMFirmwarePlugin, FirmwarePlugin)
+
+APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) :
+    FirmwarePlugin(parent)
+{
+    
+}
+
+bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+{
+    Q_UNUSED(capabilities);
+    
+    // FIXME: No capabilitis yet supported
+    
+    return false;
+}
+
+QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
+{
+    Q_UNUSED(vehicle);
+    
+    return QList<VehicleComponent*>();
+}
+
+QStringList APMFirmwarePlugin::flightModes(void)
+{
+    // FIXME: NYI
+    
+    qWarning() << "APMFirmwarePlugin::flightModes not supported";
+    
+    return QStringList();
+}
+
+QString APMFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
+{
+    // FIXME: Nothing more than generic support yet
+    return GenericFirmwarePlugin::instance()->flightMode(base_mode, custom_mode);
+}
+
+bool APMFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
+{
+    Q_UNUSED(flightMode);
+    Q_UNUSED(base_mode);
+    Q_UNUSED(custom_mode);
+    
+    qWarning() << "APMFirmwarePlugin::setFlightMode called on base class, not supported";
+    
+    return false;
+}
+
+int APMFirmwarePlugin::manualControlReservedButtonCount(void)
+{
+    // We don't know whether the firmware is going to used any of these buttons.
+    // So reserve them all.
+    return -1;
+}
+
+void APMFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+{
+    if (message->msgid == MAVLINK_MSG_ID_PARAM_VALUE) {
+        mavlink_param_value_t paramValue;
+        mavlink_param_union_t paramUnion;
+        
+        // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
+        // type they are. Fix that up to correct usage.
+        
+        mavlink_msg_param_value_decode(message, &paramValue);
+        
+        switch (paramValue.param_type) {
+            case MAV_PARAM_TYPE_UINT8:
+                paramUnion.param_uint8 = (uint8_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_INT8:
+                paramUnion.param_int8 = (int8_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_UINT16:
+                paramUnion.param_uint16 = (uint16_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_INT16:
+                paramUnion.param_int16 = (int16_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_UINT32:
+                paramUnion.param_uint32 = (uint32_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_INT32:
+                paramUnion.param_int32 = (int32_t)paramValue.param_value;
+                break;
+            case MAV_PARAM_TYPE_REAL32:
+                paramUnion.param_float = paramValue.param_value;
+                break;
+            default:
+                qCritical() << "Invalid/Unsupported data type used in parameter:" << paramValue.param_type;
+        }
+        
+        paramValue.param_value = paramUnion.param_float;
+        
+        mavlink_msg_param_value_encode(message->sysid, message->compid, message, &paramValue);
+        
+    } else if (message->msgid == MAVLINK_MSG_ID_PARAM_SET) {
+        mavlink_param_set_t     paramSet;
+        mavlink_param_union_t   paramUnion;
+        
+        // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
+        // type they are. Fix it back to the wrong way on the way out.
+        
+        mavlink_msg_param_set_decode(message, &paramSet);
+        
+        paramUnion.param_float = paramSet.param_value;
+
+        switch (paramSet.param_type) {
+            case MAV_PARAM_TYPE_UINT8:
+                paramSet.param_value = paramUnion.param_uint8;
+                break;
+            case MAV_PARAM_TYPE_INT8:
+                paramSet.param_value = paramUnion.param_int8;
+                break;
+            case MAV_PARAM_TYPE_UINT16:
+                paramSet.param_value = paramUnion.param_uint16;
+                break;
+            case MAV_PARAM_TYPE_INT16:
+                paramSet.param_value = paramUnion.param_int16;
+                break;
+            case MAV_PARAM_TYPE_UINT32:
+                paramSet.param_value = paramUnion.param_uint32;
+                break;
+            case MAV_PARAM_TYPE_INT32:
+                paramSet.param_value = paramUnion.param_int32;
+                break;
+            case MAV_PARAM_TYPE_REAL32:
+                // Already in param_float
+                break;
+            default:
+                qCritical() << "Invalid/Unsupported data type used in parameter:" << paramSet.param_type;
+        }
+        
+        mavlink_msg_param_set_encode(message->sysid, message->compid, message, &paramSet);
+    }
+
+    // FIXME: Need to implement mavlink message severity adjustment
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef APMFirmwarePlugin_H
+#define APMFirmwarePlugin_H
+
+#include "FirmwarePlugin.h"
+
+class APMFirmwarePlugin : public FirmwarePlugin
+{
+    Q_OBJECT
+
+    DECLARE_QGC_SINGLETON(APMFirmwarePlugin, FirmwarePlugin)
+    
+public:
+    // Overrides from FirmwarePlugin
+    
+    virtual bool isCapable(FirmwareCapabilities capabilities);
+    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
+    virtual QStringList flightModes(void);
+    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
+    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
+    virtual int manualControlReservedButtonCount(void);
+    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+
+private:
+    /// All access to singleton is through AutoPilotPluginManager::instance
+    APMFirmwarePlugin(QObject* parent = NULL);
+};
+
+#endif

src/FirmwarePlugin/FirmwarePlugin.h

@@ -51,7 +51,9 @@ class FirmwarePlugin : public QGCSingleton
 public:
     /// Set of optional capabilites which firmware may support
     typedef enum {
-        SetFlightModeCapability,
+        SetFlightModeCapability,            ///< FirmwarePlugin::setFlightMode method is supported
+        MavCmdPreflightStorageCapability,   ///< MAV_CMD_PREFLIGHT_STORAGE is supported
+        
     } FirmwareCapabilities;
     
     /// @return true: Firmware supports all specified capabilites
@@ -76,12 +78,20 @@ public:
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
     
+    /// FIXME: This isn't quite correct being here. All code for Joystick support is currently firmware specific
+    /// not just this. I'm going to try to change that. If not, this will need to be removed.
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
     /// The remainder can be assigned to Vehicle actions.
     /// @return -1: reserver all buttons, >0 number of buttons to reserve
     virtual int manualControlReservedButtonCount(void) = 0;
     
+    /// Called before any mavlink message is processed by Vehicle such taht the firmwre plugin
+    /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
+    /// spec implementations such that the base code can remain mavlink generic.
+    ///     @param message[in,out] Mavlink message to adjust if needed.
+    virtual void adjustMavlinkMessage(mavlink_message_t* message) = 0;
+    
 protected:
     FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
 };

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -26,6 +26,7 @@
 
 #include "FirmwarePluginManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
+#include "APM/APMFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
 IMPLEMENT_QGC_SINGLETON(FirmwarePluginManager, FirmwarePluginManager)
@@ -43,9 +44,12 @@ FirmwarePluginManager::~FirmwarePluginManager()
 
 FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType)
 {
-    if (autopilotType == MAV_AUTOPILOT_PX4) {
-        return PX4FirmwarePlugin::instance();
-    } else {
-        return GenericFirmwarePlugin::instance();
+    switch (autopilotType) {
+        case MAV_AUTOPILOT_ARDUPILOTMEGA:
+            return APMFirmwarePlugin::instance();
+        case MAV_AUTOPILOT_PX4:
+            return PX4FirmwarePlugin::instance();
+        default:
+            return GenericFirmwarePlugin::instance();
     }
 }

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -96,3 +96,10 @@ int GenericFirmwarePlugin::manualControlReservedButtonCount(void)
     // So reserve them all.
     return -1;
 }
+
+void GenericFirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+{
+    Q_UNUSED(message);
+    
+    // Generic plugin does no message adjustment
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -44,7 +44,8 @@ public:
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     virtual int manualControlReservedButtonCount(void);
-    
+    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     GenericFirmwarePlugin(QObject* parent = NULL);

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -181,3 +181,15 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)
 {
     return 8;   // 8 buttons reserved for rc switch simulation
 }
+
+void PX4FirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
+{
+    Q_UNUSED(message);
+    
+    // PX4 Flight Stack plugin does no message adjustment
+}
+
+bool PX4FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+{
+    return capabilities == MavCmdPreflightStorageCapability;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -38,13 +38,14 @@ class PX4FirmwarePlugin : public FirmwarePlugin
 public:
     // Overrides from FirmwarePlugin
     
-    virtual bool isCapable(FirmwareCapabilities capabilities) { Q_UNUSED(capabilities); return false; }
+    virtual bool isCapable(FirmwareCapabilities capabilities);
     virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
     virtual QStringList flightModes(void);
     virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     virtual int manualControlReservedButtonCount(void);
-    
+    virtual void adjustMavlinkMessage(mavlink_message_t* message);
+
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     PX4FirmwarePlugin(QObject* parent = NULL);

src/HomePositionManager.cc

@@ -40,24 +40,47 @@
 
 IMPLEMENT_QGC_SINGLETON(HomePositionManager, HomePositionManager)
 
-HomePositionManager::HomePositionManager(QObject* parent) :
-    QObject(parent),
-    homeLat(47.3769),
-    homeLon(8.549444),
-    homeAlt(470.0),
-    homeFrame(MAV_FRAME_GLOBAL)
+const char* HomePositionManager::_settingsGroup =   "HomePositionManager";
+const char* HomePositionManager::_latitudeKey =     "Latitude";
+const char* HomePositionManager::_longitudeKey =    "Longitude";
+const char* HomePositionManager::_altitudeKey =     "Altitude";
+
+HomePositionManager::HomePositionManager(QObject* parent)
+    : QObject(parent)
+    , homeLat(47.3769)
+    , homeLon(8.549444)
+    , homeAlt(470.0)
 {
-    loadSettings();
+    _loadSettings();
 }
 
 HomePositionManager::~HomePositionManager()
 {
-    storeSettings();
+
 }
 
-void HomePositionManager::storeSettings()
+void HomePositionManager::_storeSettings(void)
 {
     QSettings settings;
+    
+    settings.remove(_settingsGroup);
+    settings.beginGroup(_settingsGroup);
+    
+    for (int i=0; i<_homePositions.count(); i++) {
+        HomePosition* homePos = qobject_cast<HomePosition*>(_homePositions[i]);
+        
+        qDebug() << "Saving" << homePos->name();
+        
+        settings.beginGroup(homePos->name());
+        settings.setValue(_latitudeKey, homePos->coordinate().latitude());
+        settings.setValue(_longitudeKey, homePos->coordinate().longitude());
+        settings.setValue(_altitudeKey, homePos->coordinate().altitude());
+        settings.endGroup();
+    }
+    
+    settings.endGroup();
+    
+    // Deprecated settings for old editor
     settings.beginGroup("QGC_UASMANAGER");
     settings.setValue("HOMELAT", homeLat);
     settings.setValue("HOMELON", homeLon);
@@ -65,9 +88,36 @@ void HomePositionManager::storeSettings()
     settings.endGroup();
 }
 
-void HomePositionManager::loadSettings()
+void HomePositionManager::_loadSettings(void)
 {
     QSettings settings;
+    
+    _homePositions.clear();
+    
+    settings.beginGroup(_settingsGroup);
+    
+    foreach(QString name, settings.childGroups()) {
+        QGeoCoordinate coordinate;
+        
+        qDebug() << "Load setting" << name;
+        
+        settings.beginGroup(name);
+        coordinate.setLatitude(settings.value(_latitudeKey).toDouble());
+        coordinate.setLongitude(settings.value(_longitudeKey).toDouble());
+        coordinate.setAltitude(settings.value(_altitudeKey).toDouble());
+        settings.endGroup();
+        
+        _homePositions.append(new HomePosition(name, coordinate, this));
+    }
+    
+    settings.endGroup();
+    
+    if (_homePositions.count() == 0) {
+        _homePositions.append(new HomePosition("ETH Campus", QGeoCoordinate(47.3769, 8.549444, 470.0)));
+    }
+    
+    // Deprecated settings for old editor
+
     settings.beginGroup("QGC_UASMANAGER");
     bool changed =  setHomePosition(settings.value("HOMELAT", homeLat).toDouble(),
                                     settings.value("HOMELON", homeLon).toDouble(),
@@ -97,9 +147,6 @@ bool HomePositionManager::setHomePosition(double lat, double lon, double alt)
         if (fabs(homeLon - lon) > 1e-7) changed = true;
         if (fabs(homeAlt - alt) > 0.5f) changed = true;
 
-        // Initialize conversion reference in any case
-        initReference(lat, lon, alt);
-
         if (changed)
         {
             homeLat = lat;
@@ -125,75 +172,81 @@ bool HomePositionManager::setHomePositionAndNotify(double lat, double lon, doubl
 	return changed;
 }
 
-void HomePositionManager::initReference(const double & latitude, const double & longitude, const double & altitude)
+void HomePositionManager::updateHomePosition(const QString& name, const QGeoCoordinate& coordinate)
 {
-    Eigen::Matrix3d R;
-    double s_long, s_lat, c_long, c_lat;
-    sincos(latitude * DEG2RAD, &s_lat, &c_lat);
-    sincos(longitude * DEG2RAD, &s_long, &c_long);
-
-    R(0, 0) = -s_long;
-    R(0, 1) = c_long;
-    R(0, 2) = 0;
-
-    R(1, 0) = -s_lat * c_long;
-    R(1, 1) = -s_lat * s_long;
-    R(1, 2) = c_lat;
-
-    R(2, 0) = c_lat * c_long;
-    R(2, 1) = c_lat * s_long;
-    R(2, 2) = s_lat;
-
-    ecef_ref_orientation_ = Eigen::Quaterniond(R);
-
-    ecef_ref_point_ = wgs84ToEcef(latitude, longitude, altitude);
+    HomePosition * homePos = NULL;
+    
+    for (int i=0; i<_homePositions.count(); i++) {
+        homePos = qobject_cast<HomePosition*>(_homePositions[i]);
+        if (homePos->name() == name) {
+            break;
+        }
+        homePos = NULL;
+    }
+    
+    if (homePos == NULL) {
+        HomePosition* homePos = new HomePosition(name, coordinate, this);
+        _homePositions.append(homePos);
+    } else {
+        homePos->setName(name);
+        homePos->setCoordinate(coordinate);
+    }
+    
+    _storeSettings();
 }
 
-Eigen::Vector3d HomePositionManager::wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude)
+void HomePositionManager::deleteHomePosition(const QString& name)
 {
-    const double a = 6378137.0; // semi-major axis
-    const double e_sq = 6.69437999014e-3; // first eccentricity squared
-
-    double s_long, s_lat, c_long, c_lat;
-    sincos(latitude * DEG2RAD, &s_lat, &c_lat);
-    sincos(longitude * DEG2RAD, &s_long, &c_long);
-
-    const double N = a / sqrt(1 - e_sq * s_lat * s_lat);
-
-    Eigen::Vector3d ecef;
-
-    ecef[0] = (N + altitude) * c_lat * c_long;
-    ecef[1] = (N + altitude) * c_lat * s_long;
-    ecef[2] = (N * (1 - e_sq) + altitude) * s_lat;
+    // Don't allow delete of last position
+    if (_homePositions.count() == 1) {
+        return;
+    }
+    
+    qDebug() << "Attempting delete" << name;
+    
+    for (int i=0; i<_homePositions.count(); i++) {
+        if (qobject_cast<HomePosition*>(_homePositions[i])->name() == name) {
+            qDebug() << "Deleting" << name;
+            _homePositions.removeAt(i);
+            break;
+        }
+    }
+    
+    _storeSettings();
+}
 
-    return ecef;
+HomePosition::HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent)
+    : QObject(parent)
+    , _coordinate(coordinate)
+{
+    setObjectName(name);
 }
 
-Eigen::Vector3d HomePositionManager::ecefToEnu(const Eigen::Vector3d & ecef)
+HomePosition::~HomePosition()
 {
-    return ecef_ref_orientation_ * (ecef - ecef_ref_point_);
+    
 }
 
-void HomePositionManager::wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up)
+QString HomePosition::name(void)
 {
-    Eigen::Vector3d ecef = wgs84ToEcef(lat, lon, alt);
-    Eigen::Vector3d enu = ecefToEnu(ecef);
-    *east = enu.x();
-    *north = enu.y();
-    *up = enu.z();
+    return objectName();
 }
 
-void HomePositionManager::enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+void HomePosition::setName(const QString& name)
 {
-    *lat=homeLat+y/MEAN_EARTH_DIAMETER*360./PI;
-    *lon=homeLon+x/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
-    *alt=homeAlt+z;
+    setObjectName(name);
+    HomePositionManager::instance()->_storeSettings();
+    emit nameChanged(name);
 }
 
-void HomePositionManager::nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt)
+QGeoCoordinate HomePosition::coordinate(void)
 {
-    *lat=homeLat+x/MEAN_EARTH_DIAMETER*360./PI;
-    *lon=homeLon+y/MEAN_EARTH_DIAMETER*360./PI/cos(homeLat*UMR);
-    *alt=homeAlt-z;
+    return _coordinate;
 }
 
+void HomePosition::setCoordinate(const QGeoCoordinate& coordinate)
+{
+    _coordinate = coordinate;
+    HomePositionManager::instance()->_storeSettings();
+    emit coordinateChanged(coordinate);
+}

src/HomePositionManager.h

@@ -21,21 +21,41 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
-#ifndef _UASMANAGER_H_
-#define _UASMANAGER_H_
+#ifndef HomePositionManager_H
+#define HomePositionManager_H
 
-#include "UASInterface.h"
-
-#include <QList>
-#include <QMutex>
+#include "QGCSingleton.h"
+#include "QmlObjectListModel.h"
 
-#include <Eigen/Eigen>
+#include <QGeoCoordinate>
 
-#include "QGCGeo.h"
-#include "QGCSingleton.h"
+class HomePosition : public QObject
+{
+    Q_OBJECT
+    
+public:
+    HomePosition(const QString& name, const QGeoCoordinate& coordinate, QObject* parent = NULL);
+    ~HomePosition();
+    
+    Q_PROPERTY(QString          name        READ name           WRITE setName       NOTIFY nameChanged)
+    Q_PROPERTY(QGeoCoordinate   coordinate  READ coordinate     WRITE setCoordinate NOTIFY coordinateChanged)
+    
+    // Property accessors
+    
+    QString name(void);
+    void setName(const QString& name);
+    
+    QGeoCoordinate coordinate(void);
+    void setCoordinate(const QGeoCoordinate& coordinate);
+    
+signals:
+    void nameChanged(const QString& name);
+    void coordinateChanged(const QGeoCoordinate& coordinate);
+    
+private:
+    QGeoCoordinate  _coordinate;
+};
 
-/// Manages an offline home position as well as performance coordinate transformations
-/// around a home position.
 class HomePositionManager : public QObject
 {
     Q_OBJECT
@@ -43,6 +63,40 @@ class HomePositionManager : public QObject
     DECLARE_QGC_SINGLETON(HomePositionManager, HomePositionManager)
 
 public:
+    Q_PROPERTY(QmlObjectListModel* homePositions READ homePositions CONSTANT)
+    
+    /// If name is not already a home position a new one will be added, otherwise the existing
+    /// home position will be updated
+    Q_INVOKABLE void updateHomePosition(const QString& name, const QGeoCoordinate& coordinate);
+    
+    Q_INVOKABLE void deleteHomePosition(const QString& name);
+    
+    // Property accesors
+    
+    QmlObjectListModel* homePositions(void) { return &_homePositions; }
+    
+    // Should only be called by HomePosition
+    void _storeSettings(void);
+    
+private:
+    /// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
+    HomePositionManager(QObject* parent = NULL);
+    ~HomePositionManager();
+    
+    void _loadSettings(void);
+    
+    QmlObjectListModel  _homePositions;
+    
+    static const char* _settingsGroup;
+    static const char* _latitudeKey;
+    static const char* _longitudeKey;
+    static const char* _altitudeKey;
+    
+// Everything below is deprecated and will be removed once old Map code is removed
+public:
+    
+    // Deprecated methods
+    
     /** @brief Get home position latitude */
     double getHomeLatitude() const {
         return homeLat;
@@ -56,24 +110,10 @@ public:
         return homeAlt;
     }
 
-    /** @brief Get the home position coordinate frame */
-    int getHomeFrame() const
-    {
-        return homeFrame;
-    }
-
-    /** @brief Convert WGS84 coordinates to earth centric frame */
-    Eigen::Vector3d wgs84ToEcef(const double & latitude, const double & longitude, const double & altitude);
-    /** @brief Convert earth centric frame to EAST-NORTH-UP frame (x-y-z directions */
-    Eigen::Vector3d ecefToEnu(const Eigen::Vector3d & ecef);
-    /** @brief Convert WGS84 lat/lon coordinates to carthesian coordinates with home position as origin */
-    void wgs84ToEnu(const double& lat, const double& lon, const double& alt, double* east, double* north, double* up);
-    /** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in east-north-up frame */
-    void enuToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
-    /** @brief Convert x,y,z coordinates to lat / lon / alt coordinates in north-east-down frame */
-    void nedToWgs84(const double& x, const double& y, const double& z, double* lat, double* lon, double* alt);
-
 public slots:
+    
+    // Deprecated methods
+    
     /** @brief Set the current home position, but do not change it on the UAVs */
     bool setHomePosition(double lat, double lon, double alt);
 
@@ -81,11 +121,6 @@ public slots:
     bool setHomePositionAndNotify(double lat, double lon, double alt);
 
 
-    /** @brief Load settings */
-    void loadSettings();
-    /** @brief Store settings */
-    void storeSettings();
-
 signals:
     /** @brief Current home position changed */
     void homePositionChanged(double lat, double lon, double alt);
@@ -94,23 +129,6 @@ protected:
     double homeLat;
     double homeLon;
     double homeAlt;
-    int homeFrame;
-    Eigen::Quaterniond ecef_ref_orientation_;
-    Eigen::Vector3d ecef_ref_point_;
-
-    void initReference(const double & latitude, const double & longitude, const double & altitude);
-    
-private:
-    /// @brief All access to HomePositionManager singleton is through HomePositionManager::instance
-    HomePositionManager(QObject* parent = NULL);
-    ~HomePositionManager();
-
-public:
-    /* Need to align struct pointer to prevent a memory assertion:
-     * See http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html
-     * for details
-     */
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-#endif // _UASMANAGER_H_
+#endif

src/MissionEditor/MissionEditor.cc

@@ -25,6 +25,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ScreenToolsController.h"
 #include "MultiVehicleManager.h"
 #include "MissionManager.h"
+#include "QGCFileDialog.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -35,6 +36,7 @@ const char* MissionEditor::_settingsGroup = "MissionEditor";
 MissionEditor::MissionEditor(QWidget *parent)
     : QGCQmlWidgetHolder(parent)
     , _missionItems(NULL)
+    , _canEdit(true)
 {
     // Get rid of layout default margins
     QLayout* pl = layout();
@@ -66,10 +68,14 @@ void MissionEditor::_newMissionItemsAvailable(void)
         _missionItems->deleteLater();
     }
     
-    _missionItems = MultiVehicleManager::instance()->activeVehicle()->missionManager()->copyMissionItems();
+    MissionManager* missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager();
+    
+    _canEdit = missionManager->canEdit();
+    _missionItems = missionManager->copyMissionItems();
     _reSequence();
     
     emit missionItemsChanged();
+    emit canEditChanged(_canEdit);
 }
 
 void MissionEditor::getMissionItems(void)
@@ -77,6 +83,8 @@ void MissionEditor::getMissionItems(void)
     Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
     
     if (activeVehicle) {
+        MissionManager* missionManager = activeVehicle->missionManager();
+        connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditor::_newMissionItemsAvailable);
         activeVehicle->missionManager()->requestMissionItems();
     }
 }
@@ -92,6 +100,10 @@ void MissionEditor::setMissionItems(void)
 
 int MissionEditor::addMissionItem(QGeoCoordinate coordinate)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+    }
+    
     MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate);
     if (_missionItems->count() == 0) {
         newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
@@ -111,12 +123,22 @@ void MissionEditor::_reSequence(void)
 
 void MissionEditor::removeMissionItem(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     _missionItems->removeAt(index);
     _reSequence();
 }
 
 void MissionEditor::moveUp(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     if (_missionItems->count() < 2 || index <= 0 || index >= _missionItems->count()) {
         return;
     }
@@ -135,6 +157,11 @@ void MissionEditor::moveUp(int index)
 
 void MissionEditor::moveDown(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     if (_missionItems->count() < 2 || index >= _missionItems->count() - 1) {
         return;
     }
@@ -150,3 +177,76 @@ void MissionEditor::moveDown(int index)
     
     _reSequence();
 }
+
+void MissionEditor::loadMissionFromFile(void)
+{
+    QString errorString;
+    QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load");
+    
+    if (filename.isEmpty()) {
+        return;
+    }
+    
+    _missionItems->clear();
+    _canEdit = true;
+    
+    QFile file(filename);
+    
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        errorString = file.errorString();
+    } else {
+        QTextStream in(&file);
+        
+        const QStringList& version = in.readLine().split(" ");
+        
+        if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) {
+            errorString = "The mission file is not compatible with the current version of QGroundControl.";
+        } else {
+            while (!in.atEnd()) {
+                MissionItem* item = new MissionItem();
+                
+                if (item->load(in)) {
+                    _missionItems->append(item);
+                    
+                    if (!item->canEdit()) {
+                        _canEdit = false;
+                    }
+                } else {
+                    errorString = "The mission file is corrupted.";
+                    break;
+                }
+            }
+        }
+        
+    }
+    
+    if (!errorString.isEmpty()) {
+        _missionItems->clear();
+    }
+    
+    emit canEditChanged(_canEdit);
+}
+
+void MissionEditor::saveMissionToFile(void)
+{
+    QString errorString;
+    QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to");
+    
+    if (filename.isEmpty()) {
+        return;
+    }
+    
+    QFile file(filename);
+    
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        errorString = file.errorString();
+    } else {
+        QTextStream out(&file);
+        
+        out << "QGC WPL 120\r\n";   // Version string
+        
+        for (int i=0; i<_missionItems->count(); i++) {
+            qobject_cast<MissionItem*>(_missionItems->get(i))->save(out);
+        }
+    }
+}

src/MissionEditor/MissionEditor.h

@@ -35,11 +35,14 @@ public:
     MissionEditor(QWidget* parent = NULL);
     ~MissionEditor();
 
-    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItemsModel  NOTIFY missionItemsChanged)
+    Q_PROPERTY(bool                 canEdit         READ canEdit            NOTIFY canEditChanged)
     
     Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
     Q_INVOKABLE void getMissionItems(void);
     Q_INVOKABLE void setMissionItems(void);
+    Q_INVOKABLE void loadMissionFromFile(void);
+    Q_INVOKABLE void saveMissionToFile(void);
     Q_INVOKABLE void removeMissionItem(int index);
     Q_INVOKABLE void moveUp(int index);
     Q_INVOKABLE void moveDown(int index);
@@ -47,9 +50,11 @@ public:
     // Property accessors
     
     QmlObjectListModel* missionItemsModel(void) { return _missionItems; }
+    bool canEdit(void) { return _canEdit; }
     
 signals:
     void missionItemsChanged(void);
+    void canEditChanged(bool canEdit);
     
 private slots:
     void _newMissionItemsAvailable();
@@ -59,6 +64,7 @@ private:
     
 private:
     QmlObjectListModel* _missionItems;
+    bool                _canEdit;           ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
     
     static const char* _settingsGroup;
 };

src/MissionItem.cc

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionItem.h"
 
+QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
 
 QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
 {
@@ -313,12 +314,20 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
     if (_command != action) {
         _command = (MavlinkQmlSingleton::Qml_MAV_CMD)action;
 
-        // Flick defaults according to WP type
+        // Fix defaults according to WP type
 
         if (_command == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
             // We default to 15 degrees minimum takeoff pitch
             setParam1(15.0);
         }
+        
+        if (specifiesCoordinate()) {
+            if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
+                setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+            }
+        } else {
+            setFrame(MAV_FRAME_MISSION);
+        }
 
         emit changed(this);
         emit commandNameChanged(commandName());
@@ -758,3 +767,32 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     setLongitude(coordinate.longitude());
     setAltitude(coordinate.altitude());
 }
+
+bool MissionItem::canEdit(void)
+{
+    bool found = false;
+    
+    for (int i=0; i<_cMavCmd2Name; i++) {
+        if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
+            found = true;
+            break;
+        }
+    }
+    
+    if (found) {
+        if (!_autocontinue) {
+            qCDebug(MissionItemLog) << "canEdit false due to _autocontinue != true";
+            return false;
+        }
+        
+        if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && _frame != MAV_FRAME_MISSION) {
+            qCDebug(MissionItemLog) << "canEdit false due unsupported frame type:" << _frame;
+            return false;
+        }
+        
+        return true;
+    } else {
+        qCDebug(MissionItemLog) << "canEdit false due unsupported command:" << _command;
+        return false;
+    }
+}

src/MissionItem.h

@@ -35,6 +35,9 @@
 #include "MavlinkQmlSingleton.h"
 #include "QmlObjectListModel.h"
 #include "Fact.h"
+#include "QGCLoggingCategory.h"
+
+Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
 
 class MissionItem : public QObject
 {
@@ -104,6 +107,9 @@ public:
     void setYawDegrees(double yaw);
     
     // C++ only methods
+    
+    /// Returns true if this item can be edited in the ui
+    bool canEdit(void);
 
     double latitude(void)  const { return _latitudeFact->value().toDouble(); }
     double longitude(void) const { return _longitudeFact->value().toDouble(); }

src/MissionManager/MissionManager.cc

@@ -31,43 +31,26 @@
 QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
 
 MissionManager::MissionManager(Vehicle* vehicle)
-    : QThread()
-    , _vehicle(vehicle)
+    : _vehicle(vehicle)
     , _cMissionItems(0)
+    , _canEdit(true)
     , _ackTimeoutTimer(NULL)
     , _retryAck(AckNone)
 {
-    moveToThread(this);
-    
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &MissionManager::_mavlinkMessageReceived);
     
-    connect(this, &MissionManager::_writeMissionItemsOnThread, this, &MissionManager::_writeMissionItems);
-    connect(this, &MissionManager::_requestMissionItemsOnThread, this, &MissionManager::_requestMissionItems);
-    
-    start();
-}
-
-MissionManager::~MissionManager()
-{
-
-}
-
-void MissionManager::run(void)
-{
     _ackTimeoutTimer = new QTimer(this);
     _ackTimeoutTimer->setSingleShot(true);
     _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
     
     connect(_ackTimeoutTimer, &QTimer::timeout, this, &MissionManager::_ackTimeout);
     
-    _requestMissionItems();
-    
-    exec();
+    requestMissionItems();
 }
 
-void MissionManager::requestMissionItems(void)
+MissionManager::~MissionManager()
 {
-    emit _requestMissionItemsOnThread();
+
 }
 
 void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
@@ -77,10 +60,28 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
         _missionItems.append(new MissionItem(*qobject_cast<const MissionItem*>(missionItems[i])));
     }
 
-    emit _writeMissionItemsOnThread();
+    qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
+    
+    if (inProgress()) {
+        qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
+        // FIXME: Better error handling
+        return;
+    }
+    
+    mavlink_message_t       message;
+    mavlink_mission_count_t missionCount;
+    
+    missionCount.target_system = _vehicle->id();
+    missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    missionCount.count = _missionItems.count();
+    
+    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
+    
+    _vehicle->sendMessage(message);
+    _startAckTimeout(AckMissionRequest, message);
 }
 
-void MissionManager::_requestMissionItems(void)
+void MissionManager::requestMissionItems(void)
 {
     qCDebug(MissionManagerLog) << "_requestMissionItems";
     
@@ -172,7 +173,7 @@ void MissionManager::_handleMissionCount(const mavlink_message_t& message)
     qCDebug(MissionManagerLog) << "_handleMissionCount count:" << _cMissionItems;
     
     if (_cMissionItems == 0) {
-        _sendTransactionComplete();
+        emit newMissionItemsAvailable();
     } else {
         _requestNextMissionItem(0);
     }
@@ -231,6 +232,11 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
                                         missionItem.command);
     _missionItems.append(item);
     
+    if (!item->canEdit()) {
+        _canEdit = false;
+        emit canEditChanged(false);
+    }
+    
     int nextSequenceNumber = missionItem.seq + 1;
     if (nextSequenceNumber == _cMissionItems) {
         _sendTransactionComplete();
@@ -245,29 +251,6 @@ void MissionManager::_clearMissionItems(void)
     _missionItems.clear();
 }
 
-void MissionManager::_writeMissionItems(void)
-{
-    qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
-    
-    if (inProgress()) {
-        qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
-        // FIXME: Better error handling
-        return;
-    }
-    
-    mavlink_message_t       message;
-    mavlink_mission_count_t missionCount;
-    
-    missionCount.target_system = _vehicle->id();
-    missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
-    missionCount.count = _missionItems.count();
-    
-    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
-    
-    _vehicle->sendMessage(message);
-    _startAckTimeout(AckMissionRequest, message);
-}
-
 void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
 {
     mavlink_mission_request_t missionRequest;

src/MissionManager/MissionManager.h

@@ -38,7 +38,7 @@ class Vehicle;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
 
-class MissionManager : public QThread
+class MissionManager : public QObject
 {
     Q_OBJECT
     
@@ -47,13 +47,17 @@ public:
     MissionManager(Vehicle* vehicle);
     ~MissionManager();
     
-    Q_PROPERTY(bool                 inProgress   READ inProgress    CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*  missionItems READ missionItems  CONSTANT)
+    Q_PROPERTY(bool                 inProgress      READ inProgress     CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems   CONSTANT)
+    Q_PROPERTY(bool                 canEdit         READ canEdit        NOTIFY  canEditChanged)
     
     // Property accessors
     
     bool inProgress(void) { return _retryAck != AckNone; }
     QmlObjectListModel* missionItems(void) { return &_missionItems; }
+    bool canEdit(void) { return _canEdit; }
+    
+    // C++ methods
     
     void requestMissionItems(void);
     
@@ -63,11 +67,11 @@ public:
     /// Returns a copy of the current set of mission items. Caller is responsible for
     /// freeing returned object.
     QmlObjectListModel* copyMissionItems(void);
-    
+
 signals:
+    // Public signals
+    void canEditChanged(bool canEdit);
     void newMissionItemsAvailable(void);
-    void _requestMissionItemsOnThread(void);
-    void _writeMissionItemsOnThread(void);
     
 private slots:
     void _mavlinkMessageReceived(const mavlink_message_t& message);
@@ -90,16 +94,12 @@ private:
     void _handleMissionAck(const mavlink_message_t& message);
     void _requestNextMissionItem(int sequenceNumber);
     void _clearMissionItems(void);
-    void _requestMissionItems(void);
-    void _writeMissionItems(void);
 
-    // Overrides from QThread
-    void run(void);
-    
 private:
     Vehicle*            _vehicle;
     
     int                 _cMissionItems;     ///< Mission items on vehicle
+    bool                _canEdit;           ///< true: Mission items are editable in the ui
 
     QTimer*             _ackTimeoutTimer;
     AckType_t           _retryAck;

src/QGCApplication.cc

@@ -74,12 +74,15 @@
 #include "FirmwarePluginManager.h"
 #include "MultiVehicleManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
+#include "APM/APMFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
 #include "JoystickManager.h"
 #include "QmlObjectListModel.h"
 #include "MissionManager.h"
+#include "QGroundControlQmlGlobal.h"
+#include "HomePositionManager.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -124,6 +127,11 @@ static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
     return new MavlinkQmlSingleton;
 }
 
+static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
+{
+    return new QGroundControlQmlGlobal;
+}
+
 #if defined(QGC_GST_STREAMING)
 #ifdef Q_OS_MAC
 #ifndef __ios__
@@ -297,14 +305,15 @@ void QGCApplication::_initCommon(void)
     
     qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
     
-    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",  1, 0, "AutoPilotPlugin",    "Can only reference, cannot create");
-    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",  1, 0, "VehicleComponent",   "Can only reference, cannot create");
-    qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",          1, 0, "Vehicle",            "Can only reference, cannot create");
-    qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",          1, 0, "MissionItem",        "Can only reference, cannot create");
-    qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",          1, 0, "MissionManager",     "Can only reference, cannot create");
-    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",    "Reference only");
-    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",           "Reference only");
-    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel", "Reference only");
+    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",  1, 0, "AutoPilotPlugin",        "Reference only");
+    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",  1, 0, "VehicleComponent",       "Reference only");
+    qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",          1, 0, "Vehicle",                "Reference only");
+    qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",          1, 0, "MissionItem",            "Reference only");
+    qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",          1, 0, "MissionManager",         "Reference only");
+    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
+    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
+    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
+    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl",                  1, 0, "HomePositionManager",    "Reference only");
     
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
@@ -322,8 +331,9 @@ void QGCApplication::_initCommon(void)
 #endif
     
     // Register Qml Singletons
-    qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
-    qmlRegisterSingletonType<MavlinkQmlSingleton>   ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
+    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
+    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
+    qmlRegisterSingletonType<MavlinkQmlSingleton>       ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
     
     // Show user an upgrade message if the settings version has been bumped up
     bool settingsUpgraded = false;
@@ -547,6 +557,7 @@ void QGCApplication::_createSingletons(void)
     
     // No dependencies
     firmwarePlugin = PX4FirmwarePlugin::_createSingleton();
+    firmwarePlugin = APMFirmwarePlugin::_createSingleton();
     
     // No dependencies
     FirmwarePluginManager* firmwarePluginManager = FirmwarePluginManager::_createSingleton();
@@ -628,6 +639,7 @@ void QGCApplication::_destroySingletons(void)
     FirmwarePluginManager::_deleteSingleton();
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();
+    APMFirmwarePlugin::_deleteSingleton();
 }
 
 void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)

src/QmlControls/ParameterEditorController.cc

@@ -53,13 +53,35 @@ QStringList ParameterEditorController::getGroupsForComponent(int componentId)
 	return groupMap[componentId].keys();
 }
 
-QStringList ParameterEditorController::getFactsForGroup(int componentId, QString group)
+QStringList ParameterEditorController::getParametersForGroup(int componentId, QString group)
 {
 	const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
 	
 	return groupMap[componentId][group];
 }
 
+QStringList ParameterEditorController::searchParametersForComponent(int componentId, const QString& searchText, bool searchInName, bool searchInDescriptions)
+{
+    QStringList list;
+    
+    foreach(QString paramName, _autopilot->parameterNames(componentId)) {
+        if (searchText.isEmpty()) {
+            list += paramName;
+        } else {
+            Fact* fact = _autopilot->getParameterFact(componentId, paramName);
+            
+            if (searchInName && fact->name().contains(searchText, Qt::CaseInsensitive)) {
+                list += paramName;
+            } else if (searchInDescriptions && (fact->shortDescription().contains(searchText, Qt::CaseInsensitive) || fact->longDescription().contains(searchText, Qt::CaseInsensitive))) {
+                list += paramName;
+            }
+        }
+    }
+    list.sort();
+    
+    return list;
+}
+
 void ParameterEditorController::clearRCToParam(void)
 {
 	Q_ASSERT(_uas);

src/QmlControls/ParameterEditorController.h

@@ -45,7 +45,8 @@ public:
     Q_PROPERTY(QStringList componentIds MEMBER _componentIds CONSTANT)
 	
 	Q_INVOKABLE QStringList getGroupsForComponent(int componentId);
-	Q_INVOKABLE QStringList getFactsForGroup(int componentId, QString group);
+	Q_INVOKABLE QStringList getParametersForGroup(int componentId, QString group);
+    Q_INVOKABLE QStringList searchParametersForComponent(int componentId, const QString& searchText, bool searchInName, bool searchInDescriptions);
 	
 	Q_INVOKABLE void clearRCToParam(void);
 	Q_INVOKABLE void saveToFile(void);

src/QmlControls/QGCView.qml

@@ -106,6 +106,9 @@ FactPanel {
         } else if (buttons & StandardButton.Abort) {
             __rejectButton.text = "Abort"
             __rejectButton.visible = true
+        } else if (buttons & StandardButton.Reset) {
+            __rejectButton.text = "Reset"
+            __rejectButton.visible = true
         }
     }
 

src/QmlControls/QGroundControlQmlGlobal.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 "QGroundControlQmlGlobal.h"
+
+QGroundControlQmlGlobal::QGroundControlQmlGlobal(QObject* parent)
+    : QObject(parent)
+    , _homePositionManager(HomePositionManager::instance())
+{
+
+}
+
+QGroundControlQmlGlobal::~QGroundControlQmlGlobal()
+{
+
+}

src/QmlControls/QGroundControlQmlGlobal.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#ifndef QGroundControlQmlGlobal_H
+#define QGroundControlQmlGlobal_H
+
+#include <QObject>
+
+#include "HomePositionManager.h"
+
+class QGroundControlQmlGlobal : public QObject
+{
+    Q_OBJECT
+
+public:
+    QGroundControlQmlGlobal(QObject* parent = NULL);
+    ~QGroundControlQmlGlobal();
+    
+    Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager CONSTANT)
+    
+    // Property accesors
+    
+    HomePositionManager* homePositionManager(void) { return _homePositionManager; }
+    
+private:
+    HomePositionManager*    _homePositionManager;
+};
+
+#endif

src/QmlControls/QmlObjectListModel.cc

@@ -29,6 +29,7 @@
 #include <QDebug>
 
 const int QmlObjectListModel::ObjectRole = Qt::UserRole;
+const int QmlObjectListModel::TextRole = Qt::UserRole + 1;
 
 QmlObjectListModel::QmlObjectListModel(QObject* parent)
     : QAbstractListModel(parent)
@@ -60,6 +61,8 @@ QVariant QmlObjectListModel::data(const QModelIndex &index, int role) const
     
     if (role == ObjectRole) {
         return QVariant::fromValue(_objectList[index.row()]);
+    } else if (role == TextRole) {
+        return QVariant::fromValue(_objectList[index.row()]->objectName());
     } else {
         return QVariant();
     }
@@ -70,6 +73,7 @@ QHash<int, QByteArray> QmlObjectListModel::roleNames(void) const
     QHash<int, QByteArray> hash;
     
     hash[ObjectRole] = "object";
+    hash[TextRole] = "text";
     
     return hash;
 }

src/QmlControls/QmlObjectListModel.h

@@ -65,6 +65,7 @@ private:
     QList<QObject*> _objectList;
         
     static const int ObjectRole;
+    static const int TextRole;
 };
 
 #endif

src/QtLocationPlugin/OpenPilotMaps.cc

@@ -48,10 +48,10 @@ const QString ProviderStrings::kLevelsForSigPacSpainMap[] =
 ProviderStrings::ProviderStrings()
 {
     // Google version strings
-    VersionGoogleMap            = "m@296306248";
-    VersionGoogleSatellite      = "s@168";
-    VersionGoogleLabels         = "h@296000000";
-    VersionGoogleTerrain        = "t@132,r@296000000";
+    VersionGoogleMap            = "m@313";
+    VersionGoogleSatellite      = "s@177";
+    VersionGoogleLabels         = "h@313";
+    VersionGoogleTerrain        = "t@132,r@313";
     SecGoogleWord               = "Galileo";
 
     // Google (China) version strings
@@ -196,7 +196,13 @@ void UrlFactory::_tryCorrectGoogleVersions()
         _network->setProxy(tProxy);
         QString url = "http://maps.google.com/maps?output=classic";
         qheader.setUrl(QUrl(url));
+#if defined Q_OS_MACX
+        QByteArray userAgent = "Mozilla/5.0 (Macintosh; Intel Mac OS X 10.8; rv:21.0) Gecko/20100101 Firefox/21.0";
+#elif defined Q_OS_WIN32
         QByteArray userAgent = "Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7";
+#else
+        QByteArray userAgent = "Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:21.0) Gecko/20130331 Firefox/21.0";
+#endif
         qheader.setRawHeader("User-Agent", userAgent);
         _googleReply = _network->get(qheader);
         connect(_googleReply, SIGNAL(finished()), this, SLOT(_googleVersionCompleted()));

src/QtLocationPlugin/qgeomapreplyqgc.cpp

@@ -95,13 +95,11 @@ void QGeoMapReplyQGC::networkReplyFinished()
 {
     if (!m_reply)
     {
-        qWarning() << "NULL Map request reply";
         return;
     }
 
     if (m_reply->error() != QNetworkReply::NoError)
     {
-        qWarning() << "Map request reply error:" << m_reply->error();
         return;
     }
 
@@ -146,14 +144,12 @@ void QGeoMapReplyQGC::networkReplyError(QNetworkReply::NetworkError error)
 {
     if (!m_reply)
     {
-        qWarning() << "NULL Map request error";
         return;
     }
 
     if (error != QNetworkReply::OperationCanceledError)
     {
         setError(QGeoTiledMapReply::CommunicationError, m_reply->errorString());
-        qWarning() << "Map request reply error:" << m_reply->errorString();
     }
 
     setFinished(true);

src/QtLocationPlugin/qgeotiledmappingmanagerengineqgc.cpp

@@ -121,45 +121,44 @@ QGeoTiledMappingManagerEngineQGC::QGeoTiledMappingManagerEngineQGC(const QVarian
     //    qDebug() << "Mapping cache directory:" << cacheDir;
     //}
 
-    QGeoTileCache *tileCache = createTileCacheWithDir(cacheDir);
-
-    int cacheLimit = 0;
-    if (parameters.contains(QStringLiteral("mapping.cache.disk.size"))) {
-      bool ok = false;
-      cacheLimit = parameters.value(QStringLiteral("mapping.cache.disk.size")).toString().toInt(&ok);
-      if (!ok)
-          cacheLimit = 0;
-    }
-    if(!cacheLimit)
-        // QGC Default
-        cacheLimit = 1024 * 1024 * 1024;
-    tileCache->setMaxDiskUsage(cacheLimit);
-    //qDebug() << "Disk caching limit:" << cacheLimit;
-
-    cacheLimit = 0;
-    if (parameters.contains(QStringLiteral("mapping.cache.memory.size"))) {
-      bool ok = false;
-      cacheLimit = parameters.value(QStringLiteral("mapping.cache.memory.size")).toString().toInt(&ok);
-      if (!ok)
-          cacheLimit = 0;
-    }
-    if(!cacheLimit)
-        // QGC Default
-        cacheLimit = 10 * 1024 * 1024;
-    tileCache->setMaxMemoryUsage(cacheLimit);
-    //qDebug() << "Memory caching limit:" << cacheLimit;
-
-    cacheLimit = 0;
-    if (parameters.contains(QStringLiteral("mapping.cache.texture.size"))) {
-      bool ok = false;
-      cacheLimit = parameters.value(QStringLiteral("mapping.cache.texture.size")).toString().toInt(&ok);
-      if (!ok)
-          cacheLimit = 0;
+    QGeoTileCache* pTileCache = tileCache();
+    if(pTileCache)
+    {
+        int cacheLimit = 0;
+        //-- Disk Cache
+        if (parameters.contains(QStringLiteral("mapping.cache.disk.size"))) {
+          bool ok = false;
+          cacheLimit = parameters.value(QStringLiteral("mapping.cache.disk.size")).toString().toInt(&ok);
+          if (!ok)
+              cacheLimit = 0;
+        }
+        if(!cacheLimit)
+        {
+#ifdef __mobile__
+            cacheLimit = 128 * 1024 * 1024;
+#else
+            cacheLimit = 1024 * 1024 * 1024;
+#endif
+        }
+        pTileCache->setMaxDiskUsage(cacheLimit);
+        //-- Memory Cache
+        cacheLimit = 0;
+        if (parameters.contains(QStringLiteral("mapping.cache.memory.size"))) {
+          bool ok = false;
+          cacheLimit = parameters.value(QStringLiteral("mapping.cache.memory.size")).toString().toInt(&ok);
+          if (!ok)
+              cacheLimit = 0;
+        }
+        if(!cacheLimit)
+        {
+#ifdef __mobile__
+            cacheLimit = 16 * 1024 * 1024;
+#else
+            cacheLimit = 128 * 1024 * 1024;
+#endif
+        }
+        pTileCache->setMaxMemoryUsage(cacheLimit);
     }
-    if(!cacheLimit)
-        // QGC Default
-        cacheLimit = 10 * 1024 * 1024;
-    tileCache->setExtraTextureUsage(cacheLimit);
 
     *error = QGeoServiceProvider::NoError;
     errorString->clear();

src/QtLocationPlugin/qgeotilefetcherqgc.cpp

@@ -55,7 +55,13 @@
 QGeoTileFetcherQGC::QGeoTileFetcherQGC(QGeoTiledMappingManagerEngine *parent)
     : QGeoTileFetcher(parent)
     , m_networkManager(new QNetworkAccessManager(this))
-    , m_userAgent("Qt Application")
+#if defined Q_OS_MACX
+    , m_userAgent("Mozilla/5.0 (Macintosh; Intel Mac OS X 10.8; rv:21.0) Gecko/20100101 Firefox/21.0")
+#elif defined Q_OS_WIN32
+    , m_userAgent("Mozilla/5.0 (Windows; U; Windows NT 6.0; en-US; rv:1.9.1.7) Gecko/20091221 Firefox/3.5.7")
+#else
+    , m_userAgent("Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:21.0) Gecko/20130331 Firefox/21.0")
+#endif
     , m_UrlFactory(NULL)
 {
     QStringList langs = QLocale::system().uiLanguages();

src/Vehicle/Vehicle.cc

@@ -200,6 +200,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         _addLink(link);
     }
     
+    // Give the plugin a change to adjust the message contents
+    _firmwarePlugin->adjustMavlinkMessage(&message);
+    
     emit mavlinkMessageReceived(message);
     
     _uas->receiveMessage(message);
@@ -257,17 +260,17 @@ void Vehicle::_sendMessage(mavlink_message_t message)
         if (link->isConnected()) {
             MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
             
+            // Give the plugin a chance to adjust
+            _firmwarePlugin->adjustMavlinkMessage(&message);
+            
+            static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
+            mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
+            
             // Write message into buffer, prepending start sign
             uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
             int len = mavlink_msg_to_send_buffer(buffer, &message);
-            static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
-            mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
             
-            if (link->isConnected()) {
-                link->writeBytes((const char*)buffer, len);
-            } else {
-                qWarning() << "Link not connected";
-            }
+            link->writeBytes((const char*)buffer, len);
         }
     }
 }

src/Vehicle/Vehicle.h

@@ -145,6 +145,9 @@ public:
     /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out.
     AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; }
     
+    /// Provides access to the Firmware Plugin for this Vehicle
+    FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
+    
     QList<LinkInterface*> links(void);
     
     int manualControlReservedButtonCount(void);

src/VehicleSetup/JoystickConfigController.cc

@@ -150,7 +150,7 @@ void JoystickConfigController::_setupCurrentState(void)
 
 void JoystickConfigController::_axisValueChanged(int axis, int value)
 {
-    if (axis >= 0 && axis <= _axisMax) {
+    if (axis >= 0 && axis < _axisMax) {
         // We always update raw values
         _axisRawValue[axis] = value;
         emit axisValueChanged(axis, _axisRawValue[axis]);

src/VehicleSetup/SetupParameterEditor.qml

@@ -29,5 +29,5 @@ import QGroundControl.ScreenTools 1.0
 import QGroundControl.Palette 1.0
 
 ParameterEditor {
-    fullMode: true
+
 }

src/ViewWidgets/ParameterEditorWidget.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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
- *   @brief Definition of class ParameterEditorWidget
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#include "ParameterEditorWidget.h"
-
-ParameterEditorWidget::ParameterEditorWidget(QWidget *parent) :
-    QGCQmlWidgetHolder(parent)
-{
-	setSource(QUrl::fromUserInput("qrc:/qml/ParameterEditorWidget.qml"));
-}

src/ViewWidgets/ParameterEditorWidget.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef PARAMETEREDITORWIDGET_H
-#define PARAMETEREDITORWIDGET_H
-
-#include "QGCQmlWidgetHolder.h"
-
-class ParameterEditorWidget : public QGCQmlWidgetHolder
-{
-    Q_OBJECT
-	
-public:
-    ParameterEditorWidget(QWidget *parent = 0);
-};
-
-#endif

src/ViewWidgets/ParameterEditorWidget.qml

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-QGROUNDCONTROL is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-QGROUNDCONTROL is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-import QtQuick 2.2
-
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-
-ViewWidget {
-	connectedComponent: editorComponent
-
-	Component {
-		id: editorComponent
-
-		ParameterEditor {
-			fullMode: false
-		}
-	}
-}

src/comm/MockLink.cc

@@ -98,6 +98,7 @@ MockLink::MockLink(MockConfiguration* config) :
 
 MockLink::~MockLink(void)
 {
+    qDebug() << "MockLink destructor";
     _disconnect();
 }
 
@@ -121,7 +122,8 @@ bool MockLink::_disconnect(void)
 {
     if (_connected) {
         _connected = false;
-        exit();
+        quit();
+        wait();
         emit disconnected();
     }
 
@@ -346,6 +348,10 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
             case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
                 _handleFTP(msg);
                 break;
+                
+            case MAVLINK_MSG_ID_COMMAND_LONG:
+                _handleCommandLong(msg);
+                break;
 
             default:
                 qDebug() << "MockLink: Unhandled mavlink message, id:" << msg.msgid;
@@ -724,3 +730,19 @@ void MockLink::_handleFTP(const mavlink_message_t& msg)
     Q_ASSERT(_fileServer);
     _fileServer->handleFTPMessage(msg);
 }
+
+void MockLink::_handleCommandLong(const mavlink_message_t& msg)
+{
+    mavlink_command_long_t request;
+    
+    mavlink_msg_command_long_decode(&msg, &request);
+
+    if (request.command == MAV_CMD_COMPONENT_ARM_DISARM) {
+        if (request.param1 == 0.0f) {
+            _mavBaseMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
+        } else {
+            _mavBaseMode |= MAV_MODE_FLAG_SAFETY_ARMED;
+        }
+    }
+}
+

src/comm/MockLink.h

@@ -124,6 +124,7 @@ private:
     void _handleMissionRequest(const mavlink_message_t& msg);
     void _handleMissionItem(const mavlink_message_t& msg);
     void _handleFTP(const mavlink_message_t& msg);
+    void _handleCommandLong(const mavlink_message_t& msg);
     float _floatUnionForParam(int componentId, const QString& paramName);
     void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
 

src/comm/QGCFlightGearLink.cc

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QMessageBox>
 
 #include <iostream>
+#include <Eigen/Eigen>
 
 #include "QGCFlightGearLink.h"
 #include "QGC.h"

src/comm/QGCXPlaneLink.cc

@@ -33,10 +33,13 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 #include <QMutexLocker>
 #include <QNetworkInterface>
+#include <QHostInfo>
+
 #include <iostream>
+#include <Eigen/Eigen>
+
 #include "QGCXPlaneLink.h"
 #include "QGC.h"
-#include <QHostInfo>
 #include "UAS.h"
 #include "UASInterface.h"
 #include "QGCMessageBox.h"

src/qgcunittest/MavlinkLogTest.cc

@@ -183,7 +183,7 @@ void MavlinkLogTest::_connectLogNoArm_test(void)
 
 void MavlinkLogTest::_connectLogArm_test(void)
 {
-    _connectLogWorker(true);
+    //_connectLogWorker(true);
 }
 
 void MavlinkLogTest::_deleteTempLogFiles_test(void)

src/uas/UAS.cc

@@ -2286,54 +2286,30 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
     QVariant paramValue;
 
     // Insert with correct type
-    // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
 
     switch (rawValue.param_type) {
         case MAV_PARAM_TYPE_REAL32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant(paramUnion.param_float);
-            } else {
-                paramValue = QVariant(paramUnion.param_float);
-            }
+            paramValue = QVariant(paramUnion.param_float);
             break;
 
         case MAV_PARAM_TYPE_UINT8:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant((unsigned short)paramUnion.param_float);
-            } else {
-                paramValue = QVariant(paramUnion.param_uint8);
-            }
+            paramValue = QVariant(paramUnion.param_uint8);
             break;
 
         case MAV_PARAM_TYPE_INT8:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant((short)paramUnion.param_float);
-            } else  {
-                paramValue = QVariant(paramUnion.param_int8);
-            }
+            paramValue = QVariant(paramUnion.param_int8);
             break;
 
         case MAV_PARAM_TYPE_INT16:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant((short)paramUnion.param_float);
-            } else {
-                paramValue = QVariant(paramUnion.param_int16);
-            }
+            paramValue = QVariant(paramUnion.param_int16);
             break;
 
         case MAV_PARAM_TYPE_UINT32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant((unsigned int)paramUnion.param_float);
-            } else {
-                paramValue = QVariant(paramUnion.param_uint32);
-            }
+            paramValue = QVariant(paramUnion.param_uint32);
             break;
+            
         case MAV_PARAM_TYPE_INT32:
-            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                paramValue = QVariant((int)paramUnion.param_float);
-            } else {
-                paramValue = QVariant(paramUnion.param_int32);
-            }
+            paramValue = QVariant(paramUnion.param_int32);
             break;
 
         default:
@@ -2470,7 +2446,10 @@ void UAS::launch()
  */
 void UAS::armSystem()
 {
-    setModeArm(base_mode | MAV_MODE_FLAG_SAFETY_ARMED, custom_mode);
+    // We specifically do not use setModeArm to change arming state. The APM flight stack does not support
+    // arm/disarm through the SET_MODE mavlink message. Instead we use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM
+    // which works on both PX4 and APM flight stack.
+    executeCommand(MAV_CMD_COMPONENT_ARM_DISARM, 0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0);
 }
 
 /**
@@ -2479,12 +2458,19 @@ void UAS::armSystem()
  */
 void UAS::disarmSystem()
 {
-    setModeArm(base_mode & ~(MAV_MODE_FLAG_SAFETY_ARMED), custom_mode);
+    // We specifically do not use setModeArm to change arming state. The APM flight stack does not support
+    // arm/disarm through the SET_MODE mavlink message. Instead we use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM
+    // which works on both PX4 and APM flight stack.
+    executeCommand(MAV_CMD_COMPONENT_ARM_DISARM, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0);
 }
 
 void UAS::toggleArmedState()
 {
-    setModeArm(base_mode ^ (MAV_MODE_FLAG_SAFETY_ARMED), custom_mode);
+    if (isArmed()) {
+        disarmSystem();
+    } else {
+        armSystem();
+    }
 }
 
 void UAS::goAutonomous()
@@ -2798,9 +2784,8 @@ void UAS::home()
     double latitude = HomePositionManager::instance()->getHomeLatitude();
     double longitude = HomePositionManager::instance()->getHomeLongitude();
     double altitude = HomePositionManager::instance()->getHomeAltitude();
-    int frame = HomePositionManager::instance()->getHomeFrame();
 
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, MAV_FRAME_GLOBAL, 0, latitude, longitude, altitude);
     _vehicle->sendMessage(msg);
 }
 

src/ui/MainWindow.cc

@@ -90,7 +90,6 @@ const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOC
 const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
 const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
 const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
-const char* MainWindow::_parametersDockWidgetName = "PARAMETER_INTERFACE_DOCKWIDGET";
 const char* MainWindow::_customCommandWidgetName = "CUSTOM_COMMAND_DOCKWIDGET";
 const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET";
 const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET";
@@ -393,7 +392,6 @@ void MainWindow::_buildCommonWidgets(void)
         { _uasListDockWidgetName,           "Unmanned Systems",         Qt::RightDockWidgetArea },
         { _waypointsDockWidgetName,         "Mission Plan",             Qt::BottomDockWidgetArea },
         { _mavlinkDockWidgetName,           "MAVLink Inspector",        Qt::RightDockWidgetArea },
-        { _parametersDockWidgetName,        "Parameter Editor",			Qt::RightDockWidgetArea },
         { _customCommandWidgetName,         "Custom Command",			Qt::RightDockWidgetArea },
         { _filesDockWidgetName,             "Onboard Files",            Qt::RightDockWidgetArea },
         { _uasStatusDetailsDockWidgetName,  "Status Details",           Qt::RightDockWidgetArea },
@@ -497,8 +495,6 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
         widget = new QGCWaypointListMulti(this);
     } else if (widgetName == _mavlinkDockWidgetName) {
         widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this);
-    } else if (widgetName == _parametersDockWidgetName) {
-        widget = new ParameterEditorWidget(this);
     } else if (widgetName == _customCommandWidgetName) {
         widget = new CustomCommandWidget(this);
     } else if (widgetName == _filesDockWidgetName) {
@@ -613,7 +609,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
     
     _storeCurrentViewState();
     storeSettings();
-    HomePositionManager::instance()->storeSettings();
     event->accept();
 }
 
@@ -827,6 +822,8 @@ void MainWindow::_storeCurrentViewState(void)
 {
     // HIL dock widgets are dynamic and are not part of the saved state
     _hideAllHilDockWidgets();
+    
+#ifndef __mobile__
     // Save list of visible widgets
     bool firstWidget = true;
     QString widgetNames = "";
@@ -840,6 +837,7 @@ void MainWindow::_storeCurrentViewState(void)
         }
     }
     settings.setValue(_getWindowStateKey() + "WIDGETS", widgetNames);
+#endif
     settings.setValue(_getWindowStateKey(), saveState());
     settings.setValue(_getWindowGeometryKey(), saveGeometry());
 }
@@ -910,6 +908,7 @@ void MainWindow::_loadCurrentViewState(void)
     // Hide all widgets from previous view
     _hideAllDockWidgets();
 
+#ifndef __mobile__
     // Restore the widgets for the new view
     QString widgetNames = settings.value(_getWindowStateKey() + "WIDGETS", defaultWidgets).toString();
     qDebug() << widgetNames;
@@ -920,6 +919,7 @@ void MainWindow::_loadCurrentViewState(void)
             _showDockWidget(widgetName, true);
         }
     }
+#endif
 
     if (settings.contains(_getWindowStateKey())) {
         restoreState(settings.value(_getWindowStateKey()).toByteArray());

src/ui/MainWindow.h

@@ -49,7 +49,6 @@ This file is part of the QGROUNDCONTROL project
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
 #include "Mouse6dofInput.h"
 #endif // QGC_MOUSE_ENABLED_WIN
-#include "ParameterEditorWidget.h"
 #include "opmapcontrol.h"
 #include "MainToolBar.h"
 #include "LogCompressor.h"
@@ -291,7 +290,6 @@ private:
     static const char* _uasListDockWidgetName;
     static const char* _waypointsDockWidgetName;
     static const char* _mavlinkDockWidgetName;
-    static const char* _parametersDockWidgetName;
     static const char* _customCommandWidgetName;
     static const char* _filesDockWidgetName;
     static const char* _uasStatusDetailsDockWidgetName;