APM Flight Mode Config

qgroundcontrol.pro

@@ -553,6 +553,7 @@ SOURCES += \
 INCLUDEPATH += \
     src/AutoPilotPlugins/Common \
     src/AutoPilotPlugins/PX4 \
+    src/AutoPilotPlugins/APM \
     src/FirmwarePlugin \
     src/Vehicle \
     src/VehicleSetup \
@@ -564,6 +565,8 @@ HEADERS+= \
     src/AutoPilotPlugins/APM/APMAirframeComponent.h \
     src/AutoPilotPlugins/APM/APMComponent.h \
     src/AutoPilotPlugins/APM/APMRadioComponent.h \
+    src/AutoPilotPlugins/APM/APMFlightModesComponent.h \
+    src/AutoPilotPlugins/APM/APMFlightModesComponentController.h \
     src/AutoPilotPlugins/Common/RadioComponentController.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
@@ -609,6 +612,8 @@ SOURCES += \
     src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
     src/AutoPilotPlugins/APM/APMComponent.cc \
     src/AutoPilotPlugins/APM/APMRadioComponent.cc \
+    src/AutoPilotPlugins/APM/APMFlightModesComponent.cc \
+    src/AutoPilotPlugins/APM/APMFlightModesComponentController.cc \
     src/AutoPilotPlugins/Common/RadioComponentController.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \

qgroundcontrol.qrc

@@ -15,6 +15,8 @@
         <file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
         <file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
         <file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
+        <file alias="APMFlightModesComponent.qml">src/AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
+        <file alias="APMFlightModesComponentSummary.qml">src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>
 
         <file alias="BluetoothSettings.qml">src/ui/preferences/BluetoothSettings.qml</file>
         <file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -33,6 +33,8 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     : AutoPilotPlugin(vehicle, parent)
     , _incorrectParameterVersion(false)
     , _airframeComponent(NULL)
+    , _flightModesComponent(NULL)
+    , _radioComponent(NULL)
 {
     Q_ASSERT(vehicle);
 }
@@ -53,6 +55,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
 
+            _flightModesComponent = new APMFlightModesComponent(_vehicle, this);
+            Q_CHECK_PTR(_flightModesComponent);
+            _flightModesComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
+
             _radioComponent = new APMRadioComponent(_vehicle, this);
             Q_CHECK_PTR(_radioComponent);
             _radioComponent->setupTriggerSignals();

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -28,6 +28,7 @@
 #include "Vehicle.h"
 #include "APMAirframeComponent.h"
 #include "APMRadioComponent.h"
+#include "APMFlightModesComponent.h"
 
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -41,8 +42,9 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
-    APMAirframeComponent*   airframeComponent(void) { return _airframeComponent; }
-    APMRadioComponent*      radioComponent(void)    { return _radioComponent; }
+    APMAirframeComponent*       airframeComponent   (void) { return _airframeComponent; }
+    APMFlightModesComponent*    flightModesComponent(void) { return _flightModesComponent; }
+    APMRadioComponent*          radioComponent      (void) { return _radioComponent; }
 
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
@@ -51,8 +53,10 @@ public slots:
 private:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     QVariantList            _components;
-    APMAirframeComponent*   _airframeComponent;
-    APMRadioComponent*      _radioComponent;
+
+    APMAirframeComponent*       _airframeComponent;
+    APMFlightModesComponent*    _flightModesComponent;
+    APMRadioComponent*          _radioComponent;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMFlightModesComponent.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/>.
+ 
+ ======================================================================*/
+
+#include "APMFlightModesComponent.h"
+#include "APMAutoPilotPlugin.h"
+
+APMFlightModesComponent::APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
+    _name(tr("Flight Modes"))
+{
+}
+
+QString APMFlightModesComponent::name(void) const
+{
+    return _name;
+}
+
+QString APMFlightModesComponent::description(void) const
+{
+    return QString("The Flight Modes Component is used to assign FLight Modes to Channel 5.");
+}
+
+QString APMFlightModesComponent::iconResource(void) const
+{
+    return "/qmlimages/FlightModesComponentIcon.png";
+}
+
+bool APMFlightModesComponent::requiresSetup(void) const
+{
+    return true;
+}
+
+bool APMFlightModesComponent::setupComplete(void) const
+{
+    return true;
+}
+
+QString APMFlightModesComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    
+    if (requiresSetup()) {
+        stateDescription = "Requires calibration";
+    } else {
+        stateDescription = "Calibrated";
+    }
+    return QString(stateDescription);
+}
+
+QStringList APMFlightModesComponent::setupCompleteChangedTriggerList(void) const
+{
+    return QStringList();
+}
+
+QStringList APMFlightModesComponent::paramFilterList(void) const
+{
+    return QStringList();
+}
+
+QUrl APMFlightModesComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponent.qml");
+}
+
+QUrl APMFlightModesComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMFlightModesComponentSummary.qml");
+}
+
+QString APMFlightModesComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+    Q_ASSERT(plugin);
+
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    } else if (!plugin->radioComponent()->setupComplete()) {
+        return plugin->radioComponent()->name();
+    }
+    
+    return QString();
+}

src/AutoPilotPlugins/APM/APMFlightModesComponent.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef APMFlightModesComponent_H
+#define APMFlightModesComponent_H
+
+#include "APMComponent.h"
+
+class APMFlightModesComponent : public APMComponent
+{
+    Q_OBJECT
+    
+public:
+    APMFlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from PX4Component
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    
+    // Virtuals from VehicleComponent
+    virtual QString name(void) const;
+    virtual QString description(void) const;
+    virtual QString iconResource(void) const;
+    virtual bool requiresSetup(void) const;
+    virtual bool setupComplete(void) const;
+    virtual QString setupStateDescription(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+    
+private:
+    const QString   _name;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMFlightModesComponent.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/>.
+
+ ======================================================================*/
+
+import QtQuick                  2.5
+import QtQuick.Controls         1.2
+
+import QGroundControl.FactSystem    1.0
+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
+    viewPanel:  panel
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+    APMFlightModesComponentController {
+        id:         controller
+        factPanel:  panel
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Flickable {
+            anchors.fill: parent
+
+            Column {
+                width:  parent.width
+                spacing: ScreenTools.defaultFontPixelHeight
+
+                QGCLabel {
+                    text: "Channel 5 Flight Mode Settings"
+                    font.weight: Font.DemiBold
+                }
+
+                Rectangle {
+                    width:  parent.width
+                    height: flightModeColumn.height + ScreenTools.defaultFontPixelHeight
+                    color:  qgcPal.windowShade
+
+                    Column {
+                        id:                 flightModeColumn
+                        anchors.margins:    ScreenTools.defaultFontPixelWidth
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        spacing:            ScreenTools.defaultFontPixelHeight
+
+                        Repeater {
+                            model:  6
+
+                            Row {
+                                spacing: ScreenTools.defaultFontPixelWidth
+
+                                property int index: modelData + 1
+
+                                QGCLabel {
+                                    anchors.baseline:   modeCombo.baseline
+                                    text:               "Flight Mode " + index + ":"
+                                }
+
+                                FactComboBox {
+                                    id:         modeCombo
+                                    width:      ScreenTools.defaultFontPixelWidth * 15
+                                    fact:       controller.getParameterFact(-1, "FLTMODE" + index)
+                                    indexModel: false
+                                }
+
+                                QGCCheckBox {
+                                    id:                 simple
+                                    anchors.baseline:   modeCombo.baseline
+                                    text:               "Simple Mode"
+                                    visible:            !controller.fixedWing
+                                    checked:            isChecked()
+
+                                    onClicked: {
+                                        var simpleFact = controller.getParameterFact(-1, "SIMPLE")
+                                        if (checked) {
+                                            simpleFact.value |= 1 << modelData
+                                        } else {
+                                            simpleFact.value &= ~modelData
+                                        }
+                                    }
+
+                                    function isChecked() {
+                                        if (simple.visible) {
+                                            var simpleFact = controller.getParameterFact(-1, "SIMPLE")
+                                            return simpleFact.value & (1 << modelData)
+                                        } else {
+                                            return false;
+                                        }
+                                    }
+                                }
+
+                                QGCCheckBox {
+                                    id:                 superSimple
+                                    anchors.baseline:   modeCombo.baseline
+                                    text:               "Super Simple Mode"
+                                    visible:            !controller.fixedWing
+                                    checked:            isChecked()
+
+                                    onClicked: {
+                                        var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
+                                        if (checked) {
+                                            simpleFact.value |= 1 << modelData
+                                        } else {
+                                            simpleFact.value &= ~modelData
+                                        }
+                                    }
+
+                                    function isChecked() {
+                                        if (superSimple.visible) {
+                                            var simpleFact = controller.getParameterFact(-1, "SUPER_SIMPLE")
+                                            return simpleFact.value & (1 << modelData)
+                                        } else {
+                                            return false;
+                                        }
+                                    }
+                                }
+                            }
+                        } // Repeater - Flight Modes
+                    } // Column - Flight Modes
+                } // Rectangle - Flight Modes
+
+                QGCLabel {
+                    text: "Channel Options"
+                    font.weight: Font.DemiBold
+                }
+
+                Rectangle {
+                    width:  parent.width
+                    height: channelOptColumn.height + ScreenTools.defaultFontPixelHeight
+                    color:  qgcPal.windowShade
+
+                    Column {
+                        id:                 channelOptColumn
+                        anchors.margins:    ScreenTools.defaultFontPixelWidth
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        spacing:            ScreenTools.defaultFontPixelHeight
+
+                        Repeater {
+                            model: 6
+
+                            Row {
+                                spacing: ScreenTools.defaultFontPixelWidth
+
+                                property int index: modelData + 7
+
+                                QGCLabel {
+                                    anchors.baseline:   optCombo.baseline
+                                    text:               "Channel option " + index + ":"
+                                }
+
+                                FactComboBox {
+                                    id:         optCombo
+                                    width:      ScreenTools.defaultFontPixelWidth * 15
+                                    fact:       controller.getParameterFact(-1, "CH" + index + "_OPT")
+                                    indexModel: false
+                                }
+                            }
+                        } // Repeater -- Channel options
+                    } // Column - Channel options
+                } // Rectangle - Channel options
+            } // Column
+        } // FLickable
+    } // QGCViewPanel
+} // QGCView

src/AutoPilotPlugins/APM/APMFlightModesComponentController.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/>.
+ 
+ ======================================================================*/
+
+#include "APMFlightModesComponentController.h"
+#include "QGCMAVLink.h"
+#include "AutoPilotPluginManager.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+APMFlightModesComponentController::APMFlightModesComponentController(void)
+    : _channelCount(Vehicle::cMaxRcChannels)
+{
+    QStringList usedParams;
+    usedParams << "FLTMODE1" << "FLTMODE2" << "FLTMODE3" << "FLTMODE4" << "FLTMODE5" << "FLTMODE6";
+    if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
+        return;
+    }
+
+    _init();
+    _validateConfiguration();
+    
+    connect(_vehicle, &Vehicle::rcChannelsChanged, this, &APMFlightModesComponentController::_rcChannelsChanged);
+}
+
+void APMFlightModesComponentController::_init(void)
+{
+    _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
+}
+
+/// This will look for parameter settings which would cause the config to not run correctly.
+/// It will set _validConfiguration and _configurationErrors as needed.
+void APMFlightModesComponentController::_validateConfiguration(void)
+{
+    _validConfiguration = true;
+#if 0
+    
+    // Make sure switches are valid and within channel range
+    
+    QStringList switchParams;
+    QList<int> switchMappings;
+    
+    switchParams << "RC_MAP_MODE_SW"  << "RC_MAP_ACRO_SW"  << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
+    
+    for(int i=0; i<switchParams.count(); i++) {
+        int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
+        switchMappings << map;
+        
+        if (map < 0 || map > _channelCount) {
+            _validConfiguration = false;
+            _configurationErrors += QString("%1 is set to %2. Mapping must between 0 and %3 (inclusive).\n").arg(switchParams[i]).arg(map).arg(_channelCount);
+        }
+    }
+    
+    // Make sure mode switches are not double-mapped
+    
+    QStringList attitudeParams;
+    
+    attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
+
+    for (int i=0; i<attitudeParams.count(); i++) {
+        int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
+
+        for (int j=0; j<switchParams.count(); j++) {
+            if (map != 0 && map == switchMappings[j]) {
+                _validConfiguration = false;
+                _configurationErrors += QString("%1 is set to same channel as %2.\n").arg(switchParams[j]).arg(attitudeParams[i]);
+            }
+        }
+    }
+    
+    // Validate thresholds within range
+    
+    QStringList thresholdParams;
+    
+    thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
+    
+    foreach(QString thresholdParam, thresholdParams) {
+        float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
+        if (threshold < 0.0f || threshold > 1.0f) {
+            _validConfiguration = false;
+            _configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold);
+        }
+    }
+#endif
+}
+
+/// Connected to Vehicle::rcChannelsChanged signal
+void APMFlightModesComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+{
+    for (int channel=0; channel<channelCount; channel++) {
+        _rcValues[channel] = pwmValues[channel];
+    }
+}

src/AutoPilotPlugins/APM/APMFlightModesComponentController.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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMFlightModesComponentController_H
+#define APMFlightModesComponentController_H
+
+#include <QObject>
+#include <QQuickItem>
+#include <QList>
+#include <QStringList>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
+#include "Vehicle.h"
+
+/// MVC Controller for FlightModesComponent.qml.
+class APMFlightModesComponentController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    APMFlightModesComponentController(void);
+    
+    Q_PROPERTY(int      channelCount        MEMBER _channelCount        CONSTANT)
+    Q_PROPERTY(bool     fixedWing           MEMBER _fixedWing           CONSTANT)
+    Q_PROPERTY(QString  reservedChannels    MEMBER _reservedChannels    CONSTANT)
+    
+private slots:
+    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+    
+private:
+    void _init(void);
+    void _validateConfiguration(void);
+    
+    bool _fixedWing;
+    
+    int _rcValues[Vehicle::cMaxRcChannels];
+    
+    bool    _validConfiguration;
+    QString _configurationErrors;
+    int     _channelCount;
+    QString _reservedChannels;
+};
+
+#endif

src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml

+import QtQuick          2.5
+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 {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+
+    property Fact flightMode1: controller.getParameterFact(-1, "FLTMODE1")
+    property Fact flightMode2: controller.getParameterFact(-1, "FLTMODE2")
+    property Fact flightMode3: controller.getParameterFact(-1, "FLTMODE3")
+    property Fact flightMode4: controller.getParameterFact(-1, "FLTMODE4")
+    property Fact flightMode5: controller.getParameterFact(-1, "FLTMODE5")
+    property Fact flightMode6: controller.getParameterFact(-1, "FLTMODE6")
+
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 1:"
+            valueText: flightMode1.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 2:"
+            valueText: flightMode2.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 3:"
+            valueText: flightMode3.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 4:"
+            valueText: flightMode4.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 5:"
+            valueText: flightMode5.enumStringValue
+        }
+
+        VehicleSummaryRow {
+            labelText: "Flight Mode 6:"
+            valueText: flightMode6.enumStringValue
+        }
+    }
+}

src/QGCApplication.cc

@@ -62,6 +62,7 @@
 #include "ParameterEditorController.h"
 #include "CustomCommandWidgetController.h"
 #include "FlightModesComponentController.h"
+#include "APMFlightModesComponentController.h"
 #include "AirframeComponentController.h"
 #include "SensorsComponentController.h"
 #include "PowerComponentController.h"
@@ -354,16 +355,17 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
 
-    qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
-    qmlRegisterType<FlightModesComponentController> ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
-    qmlRegisterType<AirframeComponentController>    ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
-    qmlRegisterType<SensorsComponentController>     ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
-    qmlRegisterType<PowerComponentController>       ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
-    qmlRegisterType<RadioComponentController>       ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
-    qmlRegisterType<ScreenToolsController>          ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
-    qmlRegisterType<MainToolBarController>          ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
-    qmlRegisterType<MissionController>              ("QGroundControl.Controllers", 1, 0, "MissionController");
-    qmlRegisterType<FlightDisplayViewController>    ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController");
+    qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
+    qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
+    qmlRegisterType<FlightModesComponentController>     ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
+    qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
+    qmlRegisterType<SensorsComponentController>         ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
+    qmlRegisterType<PowerComponentController>           ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
+    qmlRegisterType<RadioComponentController>           ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
+    qmlRegisterType<ScreenToolsController>              ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
+    qmlRegisterType<MainToolBarController>              ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
+    qmlRegisterType<MissionController>                  ("QGroundControl.Controllers", 1, 0, "MissionController");
+    qmlRegisterType<FlightDisplayViewController>        ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController");
 
 #ifndef __mobile__
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");