FactPanel V2

QGCApplication.pro

@@ -620,7 +620,6 @@ INCLUDEPATH += \
 
 HEADERS += \
     src/FactSystem/Fact.h \
-    src/FactSystem/FactBinder.h \
     src/FactSystem/FactMetaData.h \
     src/FactSystem/FactSystem.h \
     src/FactSystem/FactValidator.h \
@@ -629,7 +628,6 @@ HEADERS += \
 
 SOURCES += \
     src/FactSystem/Fact.cc \
-    src/FactSystem/FactBinder.cc \
     src/FactSystem/FactMetaData.cc \
     src/FactSystem/FactSystem.cc \
     src/FactSystem/FactValidator.cc \

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -112,14 +112,14 @@ void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& na
 	_getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
 }
 
-bool AutoPilotPlugin::parameterExists(const QString& name)
+bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
 {
-	return _getParameterLoader()->parameterExists(FactSystem::defaultComponentId, name);
+    return _getParameterLoader()->parameterExists(componentId, name);
 }
 
-Fact* AutoPilotPlugin::getParameterFact(const QString& name)
+Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
 {
-	return _getParameterLoader()->getFact(FactSystem::defaultComponentId, name);
+    return _getParameterLoader()->getFact(componentId, name);
 }
 
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -71,16 +71,16 @@ public:
 	Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
     
 	/// Returns true if the specifed parameter exists from the default component
-	Q_INVOKABLE bool parameterExists(const QString& name);
+    Q_INVOKABLE bool parameterExists(int componentId, const QString& name);
 	
 	/// Returns all parameter names
 	/// FIXME: component id missing, generic to fact
 	QStringList parameterNames(void);
 	
 	/// Returns the specified parameter Fact from the default component
-	/// WARNING: Will assert if fact does not exists. If that possibility exists, check for existince first with
-	/// factExists.
-	Fact* getParameterFact(const QString& name);
+	/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existince first with
+	/// parameterExists.
+    Fact* getParameterFact(int componentId, const QString& name);
 	
 	/// Writes the parameter facts to the specified stream
 	void writeParametersToStream(QTextStream &stream);

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -142,7 +142,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact("SYS_AUTOSTART")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
 }
 
 QString AirframeComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/AirframeComponent.qml

@@ -31,6 +31,7 @@ import QGroundControl.FactControls 1.0
 import QGroundControl.Palette 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools 1.0
 
 QGCView {
     id:             rootQGCView
@@ -67,7 +68,7 @@ QGCView {
                                         "This configuration can only be modified through the Parameter Editor.\n\n" +
                                         "If you want to Reset your airframe configuration and select a standard configuration, click 'Reset' above."
 
-                    Fact { id: sys_autostart; name: "SYS_AUTOSTART" }
+                    property Fact sys_autostart: controller.getParameterFact(-1, "SYS_AUTOSTART")
 
                     function accept() {
                         sys_autostart.value = 0
@@ -107,7 +108,7 @@ QGCView {
                 QGCLabel {
                     id:             header
                     width:          parent.width
-                    font.pointSize: 20
+                    font.pointSize: ScreenTools.largeFontPointSize
                     text:           "AIRFRAME CONFIG"
                 }
 

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -48,16 +48,16 @@ AirframeComponentController::AirframeComponentController(void) :
         qmlRegisterUncreatableType<Airframe>("QGroundControl.Controllers", 1, 0, "Aiframe", "Can only reference Airframe");
     }
     
-    QStringList usedFacts;
-    usedFacts << "SYS_AUTOSTART" << "SYS_AUTOCONFIG";
-    if (!_allFactsExists(usedFacts)) {
+    QStringList usedParams;
+    usedParams << "SYS_AUTOSTART" << "SYS_AUTOCONFIG";
+    if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
         return;
     }
     
     // Load up member variables
     
     bool autostartFound = false;
-    _autostartId = _autopilot->getParameterFact("SYS_AUTOSTART")->value().toInt();
+    _autostartId = getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt();
     
     for (const AirframeComponentAirframes::AirframeType_t* pType=&AirframeComponentAirframes::rgAirframeTypes[0]; pType->name != NULL; pType++) {
         AirframeType* airframeType = new AirframeType(pType->name, pType->imageResource, this);
@@ -99,9 +99,8 @@ void AirframeComponentController::changeAutostart(void)
 	
     qgcApp()->setOverrideCursor(Qt::WaitCursor);
     
-    _autopilot->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId);
-    _autopilot->getParameterFact("SYS_AUTOCONFIG")->setValue(1);
-    
+    getParameterFact(-1, "SYS_AUTOSTART")->setValue(_autostartId);
+    getParameterFact(-1, "SYS_AUTOCONFIG")->setValue(1);
     
     // Wait for the parameters to flow through system
     qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);

src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml

@@ -5,15 +5,18 @@ import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Controllers 1.0
+import QGroundControl.Palette 1.0
 
 FactPanel {
     id:             panel
     anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
 
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     AirframeComponentController { id: controller; factPanel: panel }
 
-    Fact { id: sysIdFact;           name: "MAV_SYS_ID";     onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: sysAutoStartFact;    name: "SYS_AUTOSTART";  onFactMissing: showMissingFactOverlay(name) }
+    property Fact sysIdFact:        controller.getParameterFact(-1, "MAV_SYS_ID")
+    property Fact sysAutoStartFact: controller.getParameterFact(-1, "SYS_AUTOSTART")
 
     property bool autoStartSet: sysAutoStartFact.value != 0
 

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -73,7 +73,7 @@ bool FlightModesComponent::requiresSetup(void) const
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact("RC_MAP_MODE_SW")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
 }
 
 QString FlightModesComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.qml

@@ -34,13 +34,14 @@ import QGroundControl.ScreenTools 1.0
 
 Item {
     Loader {
-        property FlightModesComponentController controller: FlightModesComponentController { }
+        id:                 loader
+        anchors.fill:       parent
+        sourceComponent:    controller.validConfiguration ? validComponent : invalidComponent
+
+        property FlightModesComponentController controller: FlightModesComponentController { factPanel: loader.item }
         property QGCPalette qgcPal: QGCPalette { colorGroupEnabled: true }
         property bool loading: true
 
-        anchors.fill: parent
-        sourceComponent: controller.validConfiguration ? validComponent : invalidComponent
-
         onLoaded: loading = false
     }
 
@@ -48,30 +49,28 @@ Item {
         id: validComponent
 
         FactPanel {
-            Fact { id: rc_map_throttle;     name: "RC_MAP_THROTTLE"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_yaw;          name: "RC_MAP_YAW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_pitch;        name: "RC_MAP_PITCH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_roll;         name: "RC_MAP_ROLL"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_flaps;        name: "RC_MAP_FLAPS"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_aux1;         name: "RC_MAP_AUX1"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_aux2;         name: "RC_MAP_AUX2"; onFactMissing: showMissingFactOverlay(name) }
-
-            Fact { id: rc_map_mode_sw;      name: "RC_MAP_MODE_SW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_posctl_sw;    name: "RC_MAP_POSCTL_SW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_return_sw;    name: "RC_MAP_RETURN_SW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_offboard_sw;  name: "RC_MAP_OFFB_SW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_loiter_sw;    name: "RC_MAP_LOITER_SW"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_map_acro_sw;      name: "RC_MAP_ACRO_SW"; onFactMissing: showMissingFactOverlay(name) }
-
-            Fact { id: rc_posctl_th;        name: "RC_POSCTL_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_return_th;        name: "RC_RETURN_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_offboard_th;      name: "RC_OFFB_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_loiter_th;        name: "RC_LOITER_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_acro_th;          name: "RC_ACRO_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_assist_th;        name: "RC_ASSIST_TH"; onFactMissing: showMissingFactOverlay(name) }
-            Fact { id: rc_auto_th;          name: "RC_AUTO_TH"; onFactMissing: showMissingFactOverlay(name) }
-
-            Fact { id: rc_th_user;          name: "RC_TH_USER"; onFactMissing: showMissingFactOverlay(name) }
+            property Fact rc_map_throttle:      controller.getParameterFact(-1, "RC_MAP_THROTTLE")
+            property Fact rc_map_yaw:           controller.getParameterFact(-1, "RC_MAP_YAW")
+            property Fact rc_map_pitch:         controller.getParameterFact(-1, "RC_MAP_PITCH")
+            property Fact rc_map_roll:          controller.getParameterFact(-1, "RC_MAP_ROLL")
+            property Fact rc_map_flaps:         controller.getParameterFact(-1, "RC_MAP_FLAPS")
+            property Fact rc_map_aux1:          controller.getParameterFact(-1, "RC_MAP_AUX1")
+            property Fact rc_map_aux2:          controller.getParameterFact(-1, "RC_MAP_AUX2")
+
+            property Fact rc_map_mode_sw:       controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+            property Fact rc_map_posctl_sw:     controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
+            property Fact rc_map_return_sw:     controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
+            property Fact rc_map_offboard_sw:   controller.getParameterFact(-1, "RC_MAP_OFFB_SW")
+            property Fact rc_map_loiter_sw:     controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
+
+            property Fact rc_assist_th:         controller.getParameterFact(-1, "RC_ASSIST_TH")
+            property Fact rc_posctl_th:         controller.getParameterFact(-1, "RC_POSCTL_TH")
+            property Fact rc_auto_th:           controller.getParameterFact(-1, "RC_AUTO_TH")
+            property Fact rc_loiter_th:         controller.getParameterFact(-1, "RC_LOITER_TH")
+            property Fact rc_return_th:         controller.getParameterFact(-1, "RC_RETURN_TH")
+            property Fact rc_offboard_th:       controller.getParameterFact(-1, "RC_OFFB_TH")
+
+            property Fact rc_th_user:           controller.getParameterFact(-1, "RC_TH_USER")
 
             property int throttleChannel:   rc_map_throttle.value
             property int yawChannel:        rc_map_yaw.value
@@ -135,7 +134,7 @@ Item {
                 id: unassignedModeTileComponent
 
                 Rectangle {
-                    Fact { id: fact; name: tileParam; onFactMissing: showMissingFactOverlay(name) }
+                    property Fact fact: controller.getParameterFact(-1, tileParam)
                     property bool dragEnabled: fact.value == 0
 
                     id:             outerRect
@@ -221,7 +220,8 @@ Item {
                 id: assignedModeTileComponent
 
                 Rectangle {
-                    Fact { id: fact; name: tileDragEnabled ? tileParam : ""; onFactMissing: showMissingFactOverlay(name) }
+                    Fact{ id: nullFact }
+                    property Fact fact: tileDragEnabled ? controller.getParameterFact(-1, tileParam) : nullFact
 
                     width:          tileWidth
                     height:         tileHeight
@@ -362,7 +362,7 @@ Item {
 
                 QGCLabel {
                     text: "FLIGHT MODES CONFIG"
-                    font.pointSize: ScreenTools.fontPointFactor * (20);
+                    font.pointSize: ScreenTools.largeFontPointSize
                 }
 
                 Item { height: 20; width: 10 } // spacer
@@ -624,10 +624,10 @@ Item {
                 Item { height: 20; width: 10 } // spacer
 
                 FactCheckBox {
-                    checkedValue: 0
+                    checkedValue:   0
                     uncheckedValue: 1
-                    fact: rc_th_user
-                    text: "Allow setup to generate the thresholds for the flight mode positions within a switch (recommended)"
+                    fact:           rc_th_user
+                    text:           "Allow setup to generate the thresholds for the flight mode positions within a switch (recommended)"
                 }
 
                 Item { height: 20; width: 10 } // spacer
@@ -639,8 +639,9 @@ Item {
                         text: "Switch Display"
                     }
                     QGCCheckBox {
-                        checked: controller.sendLiveRCSwitchRanges
-                        text: "Show live RC display"
+                        checked:    controller.sendLiveRCSwitchRanges
+                        text:       "Show live RC display"
+
                         onClicked: {
                             controller.sendLiveRCSwitchRanges = checked
                         }
@@ -650,11 +651,11 @@ Item {
                 Item { height: 20; width: 10 } // spacer
 
                 Row {
-                    property bool modeSwitchVisible: modeChannel != 0
-                    property bool loiterSwitchVisible: loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel
-                    property bool posCtlSwitchVisible: posCtlChannel != 0 && posCtlChannel != modeChannel
-                    property bool returnSwitchVisible: returnChannel != 0
-                    property bool offboardSwitchVisible: offboardChannel != 0
+                    property bool modeSwitchVisible:        modeChannel != 0
+                    property bool loiterSwitchVisible:      loiterChannel != 0 && loiterChannel != modeChannel && loiterChannel != returnChannel
+                    property bool posCtlSwitchVisible:      posCtlChannel != 0 && posCtlChannel != modeChannel
+                    property bool returnSwitchVisible:      returnChannel != 0
+                    property bool offboardSwitchVisible:    offboardChannel != 0
 
                     width:      parent.width
                     spacing:    20
@@ -882,7 +883,7 @@ Item {
     Component {
         id: invalidComponent
 
-        Rectangle {
+        FactPanel {
             anchors.fill: parent
             color: qgcPal.window
 

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -32,20 +32,17 @@
 #include <QVariant>
 #include <QQmlProperty>
 
-FlightModesComponentController::FlightModesComponentController(QObject* parent) :
-    QObject(parent),
+FlightModesComponentController::FlightModesComponentController(void) :
     _liveRCValues(false),
     _validConfiguration(false),
-    _channelCount(18),
-    _autoPilotPlugin(NULL)
+    _channelCount(18)
 {
-    _uas = UASManager::instance()->getActiveUAS();
-    Q_ASSERT(_uas);
+    QStringList usedParams;
+    usedParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2" << "RC_MAP_ACRO_SW";
+    if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
+        return;
+    }
     
-    _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
-    Q_ASSERT(_autoPilotPlugin);
-    Q_ASSERT(_autoPilotPlugin->pluginReady());
-
     _initRcValues();
     _validateConfiguration();
 }
@@ -69,16 +66,14 @@ void FlightModesComponentController::_validateConfiguration(void)
 {
     _validConfiguration = true;
     
-    _channelCount = _autoPilotPlugin->parameterExists("RC_CHAN_CNT") ?
-                        _autoPilotPlugin->getParameterFact("RC_CHAN_CNT")->value().toInt() :
-                        _chanMax;
+    _channelCount = parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT") ? getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->value().toInt() : _chanMax;
     if (_channelCount <= 0 || _channelCount > _chanMax) {
         // Parameter exists, but has not yet been set or is invalid. Use default
         _channelCount = _chanMax;
     }
     
     // Acro is not full supported yet. If Acro is mapped you uhave to set up the hard way.
-    if (_autoPilotPlugin->getParameterFact("RC_MAP_ACRO_SW")->value().toInt() != 0) {
+    if (getParameterFact(FactSystem::defaultComponentId, "RC_MAP_ACRO_SW")->value().toInt() != 0) {
         _validConfiguration = false;
         _configurationErrors += "Flight Mode setup does not yet support Acro switch";
     }
@@ -92,7 +87,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch";
     
     for(int i=0; i<switchParams.count(); i++) {
-        int map = _autoPilotPlugin->getParameterFact(switchParams[i])->value().toInt();
+        int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->value().toInt();
         switchMappings << map;
         
         if (map < 0 || map > _channelCount) {
@@ -109,7 +104,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2" << "Acro";
 
     for (int i=0; i<attitudeParams.count(); i++) {
-        int map = _autoPilotPlugin->getParameterFact(attitudeParams[i])->value().toInt();
+        int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->value().toInt();
 
         for (int j=0; j<switchParams.count(); j++) {
             if (map != 0 && map == switchMappings[j]) {
@@ -127,7 +122,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     singleSwitchNames << "Return Switch" << "Offboard Switch";
     
     for (int i=0; i<singleSwitchParams.count(); i++) {
-        int map = _autoPilotPlugin->getParameterFact(singleSwitchParams[i])->value().toInt();
+        int map = getParameterFact(FactSystem::defaultComponentId, singleSwitchParams[i])->value().toInt();
         
         for (int j=0; j<switchParams.count(); j++) {
             if (map != 0 && singleSwitchParams[i] != switchParams[j] && map == switchMappings[j]) {
@@ -152,10 +147,10 @@ void FlightModesComponentController::setSendLiveRCSwitchRanges(bool start)
             
             QVariant value;
             
-            _rgRCMin[i] = _autoPilotPlugin->getParameterFact(rcMinParam)->value().toInt();
-            _rgRCMax[i] = _autoPilotPlugin->getParameterFact(rcMaxParam)->value().toInt();
+            _rgRCMin[i] = getParameterFact(FactSystem::defaultComponentId, rcMinParam)->value().toInt();
+            _rgRCMax[i] = getParameterFact(FactSystem::defaultComponentId, rcMaxParam)->value().toInt();
             
-            float floatReversed = _autoPilotPlugin->getParameterFact(rcRevParam)->value().toFloat();
+            float floatReversed = getParameterFact(-1, rcRevParam)->value().toFloat();
             _rgRCReversed[i] = floatReversed == -1.0f;
         }
         
@@ -196,7 +191,7 @@ double FlightModesComponentController::_switchLiveRange(const QString& param)
 {
     QVariant value;
     
-    int channel = _autoPilotPlugin->getParameterFact(param)->value().toInt();
+    int channel = getParameterFact(-1, param)->value().toInt();
     if (channel == 0) {
         return 1.0;
     } else {

src/AutoPilotPlugins/PX4/FlightModesComponentController.h

@@ -33,14 +33,15 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
 
 /// MVC Controller for FlightModesComponent.qml.
-class FlightModesComponentController : public QObject
+class FlightModesComponentController : public FactPanelController
 {
     Q_OBJECT
     
 public:
-    FlightModesComponentController(QObject* parent = NULL);
+    FlightModesComponentController(void);
     ~FlightModesComponentController();
     
     Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
@@ -79,8 +80,6 @@ private:
     
     static const int _chanMax = 18;
     
-    UASInterface*                   _uas;
-
     QList<double>   _rcValues;
     bool            _liveRCValues;
     int             _rgRCMin[_chanMax];
@@ -90,8 +89,6 @@ private:
     bool    _validConfiguration;
     QString _configurationErrors;
     int     _channelCount;
-    
-    AutoPilotPlugin*    _autoPilotPlugin;
 };
 
 #endif

src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml

@@ -4,14 +4,20 @@ import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
 
 FactPanel {
-    anchors.fill: parent
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
 
-    Fact { id: modeSwFact;      name: "RC_MAP_MODE_SW";     onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: posCtlSwFact;    name: "RC_MAP_POSCTL_SW";   onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: loiterSwFact;    name: "RC_MAP_LOITER_SW";   onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: returnSwFact;    name: "RC_MAP_RETURN_SW";   onFactMissing: showMissingFactOverlay(name) }
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact modeSwFact:   controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+    property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
+    property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
+    property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
 
     Column {
         anchors.fill:       parent

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -249,7 +249,7 @@ void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
     // Check for older parameter version set
     // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
     // should be used instead.
-    if (parameterExists("SENS_GYRO_XOFF")) {
+    if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
         _incorrectParameterVersion = true;
         QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
 										"Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -39,7 +39,7 @@ void PX4Component::setupTriggerSignals(void)
 {
     // Watch for changed on trigger list params
     foreach (QString paramName, setupCompleteChangedTriggerList()) {
-        Fact* fact = _autopilot->getParameterFact(paramName);
+        Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
         
         connect(fact, &Fact::valueChanged, this, &PX4Component::_triggerUpdated);
     }

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -58,9 +58,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    return _autopilot->getParameterFact("BAT_V_CHARGED")->value().toFloat() != 0.0f &&
-        _autopilot->getParameterFact("BAT_V_EMPTY")->value().toFloat() != 0.0f &&
-        _autopilot->getParameterFact("BAT_N_CELLS")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->value().toFloat() != 0.0f &&
+        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->value().toFloat() != 0.0f &&
+        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->value().toInt() != 0;
 }
 
 QString PowerComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/PowerComponent.qml

@@ -55,9 +55,10 @@ QGCView {
             property int firstColumnWidth: 220
             property int textEditWidth:    80
 
-            property Fact battNumCells: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
-            property Fact battHighVolt: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
-            property Fact battLowVolt:  Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
+            property Fact battNumCells:     controller.getParameterFact(-1, "BAT_N_CELLS")
+            property Fact battHighVolt:     controller.getParameterFact(-1, "BAT_V_CHARGED")
+            property Fact battLowVolt:      controller.getParameterFact(-1, "BAT_V_EMPTY")
+            property Fact battVoltLoadDrop: controller.getParameterFact(-1, "BAT_V_LOAD_DROP")
 
             property alias battHigh: battHighRow
             property alias battLow:  battLowRow
@@ -150,7 +151,7 @@ QGCView {
                                     FactTextField {
                                         id: cellsField
                                         width: textEditWidth
-                                        fact: Fact { name: "BAT_N_CELLS"; onFactMissing: showMissingFactOverlay(name) }
+                                        fact: battNumCells
                                         showUnits: true
                                     }
                                 }
@@ -161,7 +162,7 @@ QGCView {
                                     FactTextField {
                                         id: battHighField
                                         width: textEditWidth
-                                        fact: Fact { name: "BAT_V_CHARGED"; onFactMissing: showMissingFactOverlay(name) }
+                                        fact: battHighVolt
                                         showUnits: true
                                     }
                                 }
@@ -172,7 +173,7 @@ QGCView {
                                     FactTextField {
                                         id: battLowField
                                         width: textEditWidth
-                                        fact: Fact { name: "BAT_V_EMPTY"; onFactMissing: showMissingFactOverlay(name) }
+                                        fact: battLowVolt
                                         showUnits: true
                                     }
                                 }
@@ -332,7 +333,7 @@ QGCView {
                             FactTextField {
                                 id: battDropField
                                 width: textEditWidth
-                                fact: Fact { name: "BAT_V_LOAD_DROP"; onFactMissing: showMissingFactOverlay(name) }
+                                fact: battVoltLoadDrop
                                 showUnits: true
                             }
                         }

src/AutoPilotPlugins/PX4/PowerComponentSummary.qml

@@ -31,13 +31,19 @@ import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
 
 FactPanel {
-    anchors.fill: parent
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
 
-    Fact { id: batVChargedFact;     name: "BAT_V_CHARGED";  onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: batVEmptyFact;       name: "BAT_V_EMPTY";    onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: batCellsFact;        name: "BAT_N_CELLS";    onFactMissing: showMissingFactOverlay(name) }
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact batVChargedFact:  controller.getParameterFact(-1, "BAT_V_CHARGED")
+    property Fact batVEmptyFact:    controller.getParameterFact(-1, "BAT_V_EMPTY")
+    property Fact batCellsFact:     controller.getParameterFact(-1, "BAT_N_CELLS")
 
     Column {
         anchors.fill:       parent

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -62,7 +62,7 @@ bool RadioComponent::setupComplete(void) const
     QStringList attitudeMappings;
     attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
     foreach(QString mapParam, attitudeMappings) {
-        if (_autopilot->getParameterFact(mapParam)->value().toInt() == 0) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
             return false;
         }
     }
@@ -80,13 +80,13 @@ bool RadioComponent::setupComplete(void) const
         QString param;
         
         param = QString("RC%1_MIN").arg(i);
-        rcMin = _autopilot->getParameterFact(param)->value().toInt();
+        rcMin = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt();
         
         param = QString("RC%1_MAX").arg(i);
-        rcMax = _autopilot->getParameterFact(param)->value().toInt();
+        rcMax = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt();
         
         param = QString("RC%1_TRIM").arg(i);
-        rcTrim = _autopilot->getParameterFact(param)->value().toInt();
+        rcTrim = _autopilot->getParameterFact(FactSystem::defaultComponentId, param)->value().toInt();
         
         if (rcMin == rcMinDefault && rcMax == rcMaxDefault && rcTrim == rcTrimDefault) {
             return false;

src/AutoPilotPlugins/PX4/RadioComponentSummary.qml

@@ -4,17 +4,23 @@ import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
 
 FactPanel {
-    anchors.fill: parent
-
-    Fact { id: mapRollFact;     name: "RC_MAP_ROLL";        onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapPitchFact;    name: "RC_MAP_PITCH";       onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapYawFact;      name: "RC_MAP_YAW";         onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapThrottleFact; name: "RC_MAP_THROTTLE";    onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapFlapsFact;    name: "RC_MAP_FLAPS";       onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapAux1Fact;     name: "RC_MAP_AUX1";        onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: mapAux2Fact;     name: "RC_MAP_AUX2";        onFactMissing: showMissingFactOverlay(name) }
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact mapRollFact:      controller.getParameterFact(-1, "RC_MAP_ROLL")
+    property Fact mapPitchFact:     controller.getParameterFact(-1, "RC_MAP_PITCH")
+    property Fact mapYawFact:       controller.getParameterFact(-1, "RC_MAP_YAW")
+    property Fact mapThrottleFact:  controller.getParameterFact(-1, "RC_MAP_THROTTLE")
+    property Fact mapFlapsFact:     controller.getParameterFact(-1, "RC_MAP_FLAPS")
+    property Fact mapAux1Fact:      controller.getParameterFact(-1, "RC_MAP_AUX1")
+    property Fact mapAux2Fact:      controller.getParameterFact(-1, "RC_MAP_AUX2")
 
     Column {
         anchors.fill:       parent

src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml

@@ -4,15 +4,21 @@ import QtQuick.Controls 1.2
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
 
 FactPanel {
-    anchors.fill: parent
-
-    Fact { id: returnAltFact;   name: "RTL_RETURN_ALT";     onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: descendAltFact;  name: "RTL_DESCEND_ALT";    onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: landDelayFact;   name: "RTL_LAND_DELAY";     onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: commDLLossFact;  name: "COM_DL_LOSS_EN";     onFactMissing: showMissingFactOverlay(name) }
-    Fact { id: commRCLossFact;  name: "COM_RC_LOSS_T";      onFactMissing: showMissingFactOverlay(name) }
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact returnAltFact:    controller.getParameterFact(-1, "RTL_R