All MavManager functionality now in Vehicle

- Moved all MavManager functionality to Vehicle
- Updated all code to use Vehicle instead of MavManager
- Removed MavManager

QGCApplication.pro

@@ -256,7 +256,6 @@ HEADERS += \
     src/QGCQuickWidget.h \
     src/QGCSingleton.h \
     src/QGCTemporaryFile.h \
-    src/QmlControls/MavManager.h \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
     src/SerialPortIds.h \
@@ -389,7 +388,6 @@ SOURCES += \
     src/QGCQuickWidget.cc \
     src/QGCSingleton.cc \
     src/QGCTemporaryFile.cc \
-    src/QmlControls/MavManager.cc \
     src/QmlControls/ParameterEditorController.cc \
     src/QmlControls/ScreenToolsController.cc \
     src/uas/FileManager.cc \

qgroundcontrol.qrc

@@ -132,7 +132,6 @@
         <file alias="QGroundControl/FlightMap/QGCCompassHUD.qml">src/FlightMap/Widgets/QGCCompassHUD.qml</file>
         <file alias="QGroundControl/FlightMap/QGCCurrentAltitude.qml">src/FlightMap/Widgets/QGCCurrentAltitude.qml</file>
         <file alias="QGroundControl/FlightMap/QGCCurrentSpeed.qml">src/FlightMap/Widgets/QGCCurrentSpeed.qml</file>
-        <file alias="QGroundControl/FlightMap/QGCHudMessage.qml">src/FlightMap/Widgets/QGCHudMessage.qml</file>
         <file alias="QGroundControl/FlightMap/QGCMapToolButton.qml">src/FlightMap/Widgets/QGCMapToolButton.qml</file>
         <file alias="QGroundControl/FlightMap/QGCPitchIndicator.qml">src/FlightMap/Widgets/QGCPitchIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/QGCSlider.qml">src/FlightMap/Widgets/QGCSlider.qml</file>

src/FlightMap/FlightMap.qml

@@ -35,7 +35,6 @@ import QtPositioning 5.3
 import QGroundControl.Controls              1.0
 import QGroundControl.FlightMap        1.0
 import QGroundControl.ScreenTools           1.0
-import QGroundControl.MavManager            1.0
 import QGroundControl.MultiVehicleManager   1.0
 import QGroundControl.Vehicle               1.0
 
@@ -50,16 +49,13 @@ Item {
     property bool   alwaysNorth:        true
     property bool   interactive:        true
     property bool   showVehicles:       true
-    property bool   showWaypoints:      false
     property string mapName:            'defaultMap'
     property alias  mapItem:            map
-    property alias  waypoints:          polyLine
     property alias  mapMenu:            mapTypeMenu
     property alias  readOnly:           map.readOnly
 
     Component.onCompleted: {
         map.zoomLevel   = 18
-        map.markers     = []
         mapTypeMenu.update();
         if (showVehicles) {
             addExistingVehicles()
@@ -76,7 +72,7 @@ Item {
             for (var i = 0; i < map.supportedMapTypes.length; i++) {
                 if (mapID === map.supportedMapTypes[i].name) {
                     map.activeMapType = map.supportedMapTypes[i]
-                    MavManager.saveSetting(root.mapName + "/currentMapType", mapID);
+                    multiVehicleManager.saveSetting(root.mapName + "/currentMapType", mapID);
                     return;
                 }
             }
@@ -94,7 +90,7 @@ Item {
             var mapID = ''
             if (map.supportedMapTypes.length > 0)
                 mapID = map.activeMapType.name;
-            mapID = MavManager.loadSetting(root.mapName + "/currentMapType", mapID);
+            mapID = multiVehicleManager.loadSetting(root.mapName + "/currentMapType", mapID);
             for (var i = 0; i < map.supportedMapTypes.length; i++) {
                 var name = map.supportedMapTypes[i].name;
                 addMap(name, mapID === name);
@@ -139,26 +135,6 @@ Item {
         return dist
     }
 
-    function updateWaypoints() {
-        polyLine.path = []
-        // Are we initialized?
-        if (typeof map.markers != 'undefined' && typeof root.longitude != 'undefined') {
-            map.deleteMarkers()
-            if(root.showWaypoints) {
-                for(var i = 0; i < MavManager.waypoints.length; i++) {
-                    var coord = QtPositioning.coordinate(MavManager.waypoints[i].latitude, MavManager.waypoints[i].longitude, MavManager.waypoints[i].altitude);
-                    polyLine.addCoordinate(coord);
-                    map.addMarker(coord, MavManager.waypoints[i].id);
-                }
-                if (typeof MavManager.waypoints != 'undefined' && MavManager.waypoints.length > 0) {
-                    root.longitude = MavManager.waypoints[0].longitude
-                    root.latitude  = MavManager.waypoints[0].latitude
-                }
-                map.changed = false
-            }
-        }
-    }
-
     property var vehicles: []           ///< List of known vehicles
     property var vehicleMapItems: []    ///< List of know vehicle map items
 
@@ -202,13 +178,6 @@ Item {
         name: "QGroundControl"
     }
 
-    Connections {
-        target: MavManager
-        onWaypointsChanged: {
-            root.updateWaypoints();
-        }
-    }
-
     Connections {
         target: multiVehicleManager
 
@@ -216,10 +185,6 @@ Item {
         onVehicleRemoved: removeVehicle(vehicle)
     }
 
-    onShowWaypointsChanged: {
-        root.updateWaypoints();
-    }
-
     Map {
         id: map
 
@@ -231,7 +196,6 @@ Item {
         property bool   changed:  false
         property bool   readOnly: false
         property variant scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000]
-        property variant markers
 
         plugin:     mapPlugin
         width:      1
@@ -276,44 +240,6 @@ Item {
             }
         }
 
-        function updateMarker(coord, wpid)
-        {
-            if(wpid < polyLine.path.length) {
-                var tmpPath = polyLine.path;
-                tmpPath[wpid] = coord;
-                polyLine.path = tmpPath;
-                map.changed = true;
-            }
-        }
-
-        function addMarker(coord, wpid)
-        {
-            var marker = Qt.createQmlObject ('QGCWaypoint {}', map)
-            map.addMapItem(marker)
-            marker.z = map.z + 1
-            marker.coordinate = coord
-            marker.waypointID = wpid
-            // Update list of markers
-            var count = map.markers.length
-            var myArray = []
-            for (var i = 0; i < count; i++){
-                myArray.push(markers[i])
-            }
-            myArray.push(marker)
-            markers = myArray
-        }
-
-        function deleteMarkers()
-        {
-            if (typeof map.markers != 'undefined') {
-                var count = map.markers.length
-                for (var i = 0; i < count; i++) {
-                    map.markers[i].destroy()
-                }
-            }
-            map.markers = []
-        }
-
         function calculateScale() {
             var coord1, coord2, dist, text, f
             f = 0
@@ -339,15 +265,6 @@ Item {
             scaleImage.width = (scaleImage.sourceSize.width * f) - 2 * scaleImageLeft.sourceSize.width
             scaleText.text = text
         }
-
-        MapPolyline {
-            id:             polyLine
-            visible:        path.length > 1 && root.showWaypoints
-            line.width:     3
-            line.color:     map.changed ? "#f97a2e" : "#e35cd8"
-            smooth:         true
-            antialiasing:   true
-        }
     }
 
     QGCSlider {

src/FlightMap/Widgets/QGCHudMessage.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
- *   @brief QGC HUD Message
- *   @author Gus Grubba <mavlink@grubba.com>
- */
-
-import QtQuick 2.4
-import QtQuick.Controls 1.3
-
-import QGroundControl.Controls 1.0
-import QGroundControl.ScreenTools 1.0
-import QGroundControl.MavManager 1.0
-
-Item {
-    id: root
-    visible: MavManager.latestError !== ''
-    Rectangle {
-        anchors.fill:   parent
-        color:          Qt.rgba(0,0,0,0.75)
-        border.color:   Qt.rgba(1,1,1,0.75)
-        radius:         4
-        QGCLabel {
-            anchors.horizontalCenter: parent.horizontalCenter
-            anchors.verticalCenter:   parent.verticalCenter
-            antialiasing: true
-            font.weight: Font.DemiBold
-            text:  MavManager.latestError
-            color: "#f84444"
-        }
-        OpacityAnimator {
-            id: vanish
-            target: root;
-            from:   1;
-            to:     0;
-            duration: 2000
-            running: false
-        }
-    }
-    Timer {
-        id: vanishTimer
-        interval: 30000
-        running:  false
-        repeat:   false
-        onTriggered: {
-            vanish.start();
-        }
-    }
-    MouseArea {
-        anchors.fill: parent
-        z: 1000
-        acceptedButtons: Qt.LeftButton
-        onClicked: {
-            if (mouse.button == Qt.LeftButton)
-            {
-                vanishTimer.stop();
-                vanish.stop();
-                root.opacity = 0;
-            }
-        }
-    }
-    Connections {
-        target: MavManager
-        onLatestErrorChanged: {
-            vanishTimer.stop();
-            vanish.stop();
-            vanishTimer.start();
-            root.opacity = 1;
-        }
-    }
-}

src/FlightMap/qmldir

@@ -13,7 +13,6 @@ QGCCompassHUD           1.0 QGCCompassHUD.qml
 QGCCompassWidget        1.0 QGCCompassWidget.qml
 QGCCurrentAltitude      1.0 QGCCurrentAltitude.qml
 QGCCurrentSpeed         1.0 QGCCurrentSpeed.qml
-QGCHudMessage           1.0 QGCHudMessage.qml
 QGCMapToolButton        1.0 QGCMapToolButton.qml
 QGCPitchIndicator       1.0 QGCPitchIndicator.qml
 QGCSlider               1.0 QGCSlider.qml

src/QGCApplication.cc

@@ -83,7 +83,6 @@ G_END_DECLS
 #endif
 #include "AutoPilotPlugin.h"
 #include "VehicleComponent.h"
-#include "MavManager.h"
 #include "FirmwarePluginManager.h"
 #include "MultiVehicleManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
@@ -122,19 +121,6 @@ static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
     return screenToolsController;
 }
 
-/**
- * @brief MavManager creation callback
- *
- * This is called by the QtQuick engine for creating the singleton
-**/
-
-static QObject* mavManagerSingletonFactory(QQmlEngine*, QJSEngine*)
-{
-    MavManager* mavManager = new MavManager;
-    qgcApp()->setMavManager(mavManager);
-    return mavManager;
-}
-
 #if defined(QGC_GST_STREAMING)
 #ifdef Q_OS_MAC
 #ifndef __ios__
@@ -163,7 +149,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     : QApplication(argc, argv)
     , _runningUnitTests(unitTesting)
     , _styleIsDark(true)
-    , _pMavManager(NULL)
 	, _fakeMobile(false)
 {
     Q_ASSERT(_app == NULL);
@@ -356,7 +341,6 @@ void QGCApplication::_initCommon(void)
     
     //-- Create QML Singleton Interfaces
     qmlRegisterSingletonType<ScreenToolsController>("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
-    qmlRegisterSingletonType<MavManager>("QGroundControl.MavManager", 1, 0, "MavManager", mavManagerSingletonFactory);
     
     //-- Register Waypoint Interface
     qmlRegisterInterface<Waypoint>("Waypoint");
@@ -788,17 +772,6 @@ void QGCApplication::_missingParamsDisplay(void)
                 "You should quit QGroundControl immediately and update your firmware.").arg(params));
 }
 
-void QGCApplication::setMavManager(MavManager* pMgr)
-{
-    if(!_pMavManager)
-        _pMavManager = pMgr;
-}
-
-MavManager* QGCApplication::getMavManager()
-{
-    return _pMavManager;
-}
-
 void QGCApplication::showToolBarMessage(const QString& message)
 {
     MainWindow* mainWindow = MainWindow::instance();

src/QGCApplication.h

@@ -44,7 +44,6 @@
 // Work around circular header includes
 class QGCSingleton;
 class MainWindow;
-class MavManager;
 
 /**
  * @brief The main application and management class.
@@ -101,12 +100,6 @@ public:
     /// multiple times.
     void reportMissingParameter(int componentId, const QString& name);
 
-    /// When the singleton is created, it sets a pointer for subsequent use
-    void setMavManager(MavManager* pMgr);
-
-    /// MavManager accessor
-    MavManager* getMavManager();
-    
     /// Show a non-modal message to the user
     void showToolBarMessage(const QString& message);
 
@@ -179,7 +172,6 @@ private:
     static const int    _missingParamsDelayedDisplayTimerTimeout = 1000;  ///< Timeout to wait for next missing fact to come in before display
     QTimer              _missingParamsDelayedDisplayTimer;                ///< Timer use to delay missing fact display
     QStringList         _missingParams;                                  ///< List of missing facts to be displayed
-    MavManager*         _pMavManager;
 
 	bool				_fakeMobile;	///< true: Fake ui into displaying mobile interface
 

src/Vehicle/MultiVehicleManager.cc

@@ -240,3 +240,15 @@ QVariantList MultiVehicleManager::vehiclesAsVariants(void)
     
     return list;
 }
+
+void MultiVehicleManager::saveSetting(const QString &name, const QString& value)
+{
+    QSettings settings;
+    settings.setValue(name, value);
+}
+
+QString MultiVehicleManager::loadSetting(const QString &name, const QString& defaultValue)
+{
+    QSettings settings;
+    return settings.value(name, defaultValue).toString();
+}

src/Vehicle/MultiVehicleManager.h

@@ -39,6 +39,9 @@ class MultiVehicleManager : public QGCSingleton
     DECLARE_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
 
 public:
+    Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
+    Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);
+    
     Q_PROPERTY(bool activeVehicleAvailable          READ activeVehicleAvailable                         NOTIFY activeVehicleAvailableChanged)
     Q_PROPERTY(bool parameterReadyVehicleAvailable  READ parameterReadyVehicleAvailable                 NOTIFY parameterReadyVehicleAvailableChanged)
     Q_PROPERTY(Vehicle* activeVehicle               READ activeVehicle          WRITE setActiveVehicle  NOTIFY activeVehicleChanged)

src/Vehicle/Vehicle.cc

@@ -21,22 +21,58 @@
  
  ======================================================================*/
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "Vehicle.h"
 #include "MAVLinkProtocol.h"
 #include "FirmwarePluginManager.h"
 #include "LinkManager.h"
 #include "FirmwarePlugin.h"
 #include "AutoPilotPluginManager.h"
+#include "UASMessageHandler.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
+#define UPDATE_TIMER 50
+#define DEFAULT_LAT  38.965767f
+#define DEFAULT_LON -120.083923f
+
 Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     : _id(vehicleId)
     , _firmwareType(firmwareType)
     , _uas(NULL)
+    , _mav(NULL)
+    , _currentMessageCount(0)
+    , _messageCount(0)
+    , _currentErrorCount(0)
+    , _currentWarningCount(0)
+    , _currentNormalCount(0)
+    , _currentMessageType(MessageNone)
+    , _roll(0.0f)
+    , _pitch(0.0f)
+    , _heading(0.0f)
+    , _altitudeAMSL(0.0f)
+    , _altitudeWGS84(0.0f)
+    , _altitudeRelative(0.0f)
+    , _groundSpeed(0.0f)
+    , _airSpeed(0.0f)
+    , _climbRate(0.0f)
+    , _navigationAltitudeError(0.0f)
+    , _navigationSpeedError(0.0f)
+    , _navigationCrosstrackError(0.0f)
+    , _navigationTargetBearing(0.0f)
+    , _latitude(DEFAULT_LAT)
+    , _longitude(DEFAULT_LON)
+    , _refreshTimer(new QTimer(this))
+    , _batteryVoltage(0.0)
+    , _batteryPercent(0.0)
+    , _batteryConsumed(-1.0)
+    , _systemArmed(false)
+    , _currentHeartbeatTimeout(0)
+    , _waypointDistance(0.0)
+    , _currentWaypoint(0)
+    , _satelliteCount(-1)
+    , _satelliteLock(0)
+    , _wpm(NULL)
+    , _updateCount(0)
 {
     _addLink(link);
     
@@ -47,14 +83,91 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
-    _setYaw(_uas->getYaw());
     
     connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
     connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
-    connect(_uas, &UAS::yawChanged, this, &Vehicle::_setYaw);
     
     _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
     _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
+    
+    // Refresh timer
+    connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
+    _refreshTimer->setInterval(UPDATE_TIMER);
+    _refreshTimer->start(UPDATE_TIMER);
+    emit heartbeatTimeoutChanged();
+    
+    _mav = uas();
+    // Reset satellite count (no GPS)
+    _satelliteCount = -1;
+    emit satelliteCountChanged();
+    // Reset connection lost (if any)
+    _currentHeartbeatTimeout = 0;
+    emit heartbeatTimeoutChanged();
+    // Listen for system messages
+    connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
+    // Now connect the new UAS
+    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
+    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
+    connect(_mav, SIGNAL(speedChanged                       (UASInterface*, double, double, quint64)),                  this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
+    connect(_mav, SIGNAL(altitudeChanged                    (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
+    connect(_mav, SIGNAL(navigationControllerErrorsChanged  (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
+    connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));
+    connect(_mav, SIGNAL(armingChanged                      (bool)),                                                    this, SLOT(_updateArmingState(bool)));
+    connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
+    connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
+    connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
+    connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
+    connect(_mav, &UASInterface::modeChanged,                       this, &Vehicle::_updateMode);
+    connect(_mav, &UASInterface::nameChanged,                       this, &Vehicle::_updateName);
+    connect(_mav, &UASInterface::systemTypeSet,                     this, &Vehicle::_setSystemType);
+    connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
+    _wpm = _mav->getWaypointManager();
+    if (_wpm) {
+        connect(_wpm, &UASWaypointManager::currentWaypointChanged,   this, &Vehicle::_updateCurrentWaypoint);
+        connect(_wpm, &UASWaypointManager::waypointDistanceChanged,  this, &Vehicle::_updateWaypointDistance);
+        connect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)),     this, SLOT(_waypointViewOnlyListChanged(void)));
+        connect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)),this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
+        _wpm->readWaypoints(true);
+    }
+    UAS* pUas = dynamic_cast<UAS*>(_mav);
+    if(pUas) {
+        _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
+        connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
+    }
+    _setSystemType(_mav, _mav->getSystemType());
+    _updateArmingState(_mav->isArmed());
+}
+
+Vehicle::~Vehicle()
+{
+    // Stop listening for system messages
+    disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
+    // Disconnect any previously connected active MAV
+    disconnect(_mav, SIGNAL(attitudeChanged                     (UASInterface*, double,double,double,quint64)),             this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
+    disconnect(_mav, SIGNAL(attitudeChanged                     (UASInterface*, int,double,double,double,quint64)),         this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
+    disconnect(_mav, SIGNAL(speedChanged                        (UASInterface*, double, double, quint64)),                  this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
+    disconnect(_mav, SIGNAL(altitudeChanged                     (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
+    disconnect(_mav, SIGNAL(navigationControllerErrorsChanged   (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
+    disconnect(_mav, SIGNAL(statusChanged                       (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*,QString,QString)));
+    disconnect(_mav, SIGNAL(armingChanged                       (bool)),                                                    this, SLOT(_updateArmingState(bool)));
+    disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData);
+    disconnect(_mav, &UASInterface::heartbeatTimeout,                this, &Vehicle::_heartbeatTimeout);
+    disconnect(_mav, &UASInterface::batteryChanged,                  this, &Vehicle::_updateBatteryRemaining);
+    disconnect(_mav, &UASInterface::batteryConsumedChanged,          this, &Vehicle::_updateBatteryConsumedChanged);
+    disconnect(_mav, &UASInterface::modeChanged,                     this, &Vehicle::_updateMode);
+    disconnect(_mav, &UASInterface::nameChanged,                     this, &Vehicle::_updateName);
+    disconnect(_mav, &UASInterface::systemTypeSet,                   this, &Vehicle::_setSystemType);
+    disconnect(_mav, &UASInterface::localizationChanged,             this, &Vehicle::_setSatLoc);
+    if (_wpm) {
+        disconnect(_wpm, &UASWaypointManager::currentWaypointChanged,    this, &Vehicle::_updateCurrentWaypoint);
+        disconnect(_wpm, &UASWaypointManager::waypointDistanceChanged,   this, &Vehicle::_updateWaypointDistance);
+        disconnect(_wpm, SIGNAL(waypointViewOnlyListChanged(void)),      this, SLOT(_waypointViewOnlyListChanged(void)));
+        disconnect(_wpm, SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(_updateWaypointViewOnly(int,Waypoint*)));
+    }
+    UAS* pUas = dynamic_cast<UAS*>(_mav);
+    if(pUas) {
+        disconnect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
+    }
 }
 
 void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
@@ -159,8 +272,540 @@ void Vehicle::setLongitude(double longitude){
     emit coordinateChanged(_geoCoordinate);
 }
 
-void Vehicle::_setYaw(double yaw)
+void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
+{
+    if (isinf(roll)) {
+        _roll = std::numeric_limits<double>::quiet_NaN();
+    } else {
+        float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
+        if (fabs(roll - rolldeg) > 1.0) {
+            _roll = rolldeg;
+            if(_refreshTimer->isActive()) {
+                emit rollChanged();
+            }
+        }
+        if(_roll != rolldeg) {
+            _roll = rolldeg;
+            _addChange(ROLL_CHANGED);
+        }
+    }
+    if (isinf(pitch)) {
+        _pitch = std::numeric_limits<double>::quiet_NaN();
+    } else {
+        float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
+        if (fabs(pitch - pitchdeg) > 1.0) {
+            _pitch = pitchdeg;
+            if(_refreshTimer->isActive()) {
+                emit pitchChanged();
+            }
+        }
+        if(_pitch != pitchdeg) {
+            _pitch = pitchdeg;
+            _addChange(PITCH_CHANGED);
+        }
+    }
+    if (isinf(yaw)) {
+        _heading = std::numeric_limits<double>::quiet_NaN();
+    } else {
+        yaw = _oneDecimal(yaw * (180.0 / M_PI));
+        if (yaw < 0) yaw += 360;
+        if (fabs(_heading - yaw) > 1.0) {
+            _heading = yaw;
+            if(_refreshTimer->isActive()) {
+                emit headingChanged();
+            }
+        }
+        if(_heading != yaw) {
+            _heading = yaw;
+            _addChange(HEADING_CHANGED);
+        }
+    }
+}
+
+void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
+{
+    _updateAttitude(uas, roll, pitch, yaw, timestamp);
+}
+
+void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
+{
+    groundSpeed = _oneDecimal(groundSpeed);
+    if (fabs(_groundSpeed - groundSpeed) > 0.5) {
+        _groundSpeed = groundSpeed;
+        if(_refreshTimer->isActive()) {
+            emit groundSpeedChanged();
+        }
+    }
+    airSpeed = _oneDecimal(airSpeed);
+    if (fabs(_airSpeed - airSpeed) > 1.0) {
+        _airSpeed = airSpeed;
+        if(_refreshTimer->isActive()) {
+            emit airSpeedChanged();
+        }
+    }
+    if(_groundSpeed != groundSpeed) {
+        _groundSpeed = groundSpeed;
+        _addChange(GROUNDSPEED_CHANGED);
+    }
+    if(_airSpeed != airSpeed) {
+        _airSpeed = airSpeed;
+        _addChange(AIRSPEED_CHANGED);
+    }
+}
+
+void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
+    altitudeAMSL = _oneDecimal(altitudeAMSL);
+    if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
+        _altitudeAMSL = altitudeAMSL;
+        if(_refreshTimer->isActive()) {
+            emit altitudeAMSLChanged();
+        }
+    }
+    altitudeWGS84 = _oneDecimal(altitudeWGS84);
+    if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
+        _altitudeWGS84 = altitudeWGS84;
+        if(_refreshTimer->isActive()) {
+            emit altitudeWGS84Changed();
+        }
+    }
+    altitudeRelative = _oneDecimal(altitudeRelative);
+    if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
+        _altitudeRelative = altitudeRelative;
+        if(_refreshTimer->isActive()) {
+            emit altitudeRelativeChanged();
+        }
+    }
+    climbRate = _oneDecimal(climbRate);
+    if (fabs(_climbRate - climbRate) > 0.5) {
+        _climbRate = climbRate;
+        if(_refreshTimer->isActive()) {
+            emit climbRateChanged();
+        }
+    }
+    if(_altitudeAMSL != altitudeAMSL) {
+        _altitudeAMSL = altitudeAMSL;
+        _addChange(ALTITUDEAMSL_CHANGED);
+    }
+    if(_altitudeWGS84 != altitudeWGS84) {
+        _altitudeWGS84 = altitudeWGS84;
+        _addChange(ALTITUDEWGS84_CHANGED);
+    }
+    if(_altitudeRelative != altitudeRelative) {
+        _altitudeRelative = altitudeRelative;
+        _addChange(ALTITUDERELATIVE_CHANGED);
+    }
+    if(_climbRate != climbRate) {
+        _climbRate = climbRate;
+        _addChange(CLIMBRATE_CHANGED);
+    }
+}
+
+void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
+    _navigationAltitudeError   = altitudeError;
+    _navigationSpeedError      = speedError;
+    _navigationCrosstrackError = xtrackError;
+}
+
+void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
+    if (_mav == uas) {
+        _navigationTargetBearing = targetBearing;
+    }
+}
+
+/*
+ * Internal
+ */
+
+bool Vehicle::_isAirplane() {
+    if (_mav)
+        return _mav->isAirplane();
+    return false;
+}
+
+void Vehicle::_addChange(int id)
+{
+    if(!_changes.contains(id)) {
+        _changes.append(id);
+    }
+}
+
+float Vehicle::_oneDecimal(float value)
+{
+    int i = (value * 10);
+    return (float)i / 10.0;
+}
+
+void Vehicle::_checkUpdate()
+{
+    // Update current location
+    if(_mav) {
+        if(_latitude != _mav->getLatitude()) {
+            _latitude = _mav->getLatitude();
+            emit latitudeChanged();
+        }
+        if(_longitude != _mav->getLongitude()) {
+            _longitude = _mav->getLongitude();
+            emit longitudeChanged();
+        }
+    }
+    // The timer rate is 20Hz for the coordinates above. These below we only check
+    // twice a second.
+    if(++_updateCount > 9) {
+        _updateCount = 0;
+        // Check for changes
+        // Significant changes, that is, whole number changes, are updated immediatelly.
+        // For every message however, we set a flag for what changed and this timer updates
+        // them to bring everything up-to-date. This prevents an avalanche of UI updates.
+        foreach(int i, _changes) {
+            switch (i) {
+                case ROLL_CHANGED:
+                    emit rollChanged();
+                    break;
+                case PITCH_CHANGED:
+                    emit pitchChanged();
+                    break;
+                case HEADING_CHANGED:
+                    emit headingChanged();
+                    break;
+                case GROUNDSPEED_CHANGED:
+                    emit groundSpeedChanged();
+                    break;
+                case AIRSPEED_CHANGED:
+                    emit airSpeedChanged();
+                    break;
+                case CLIMBRATE_CHANGED:
+                    emit climbRateChanged();
+                    break;
+                case ALTITUDERELATIVE_CHANGED:
+                    emit altitudeRelativeChanged();
+                    break;
+                case ALTITUDEWGS84_CHANGED:
+                    emit altitudeWGS84Changed();
+                    break;
+                case ALTITUDEAMSL_CHANGED:
+                    emit altitudeAMSLChanged();
+                    break;
+                default:
+                    break;
+            }
+        }
+        _changes.clear();
+    }
+}
+
+QString Vehicle::getMavIconColor()
+{
+    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
+    if(_mav)
+        return _mav->getColor().name();
+    else
+        return QString("black");
+}
+
+void Vehicle::_updateArmingState(bool armed)
+{
+    if(_systemArmed != armed) {
+        _systemArmed = armed;
+        emit systemArmedChanged();
+    }
+}
+
+void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
+{
+    
+    if(percent < 0.0) {
+        percent = 0.0;
+    }
+    if(voltage < 0.0) {
+        voltage = 0.0;
+    }
+    if (_batteryVoltage != voltage) {
+        _batteryVoltage = voltage;
+        emit batteryVoltageChanged();
+    }
+    if (_batteryPercent != percent) {
+        _batteryPercent = percent;
+        emit batteryPercentChanged();
+    }
+}
+
+void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed)
+{
+    if(_batteryConsumed != current_consumed) {
+        _batteryConsumed = current_consumed;
+        emit batteryConsumedChanged();
+    }
+}
+
+
+void Vehicle::_updateState(UASInterface*, QString name, QString)
+{
+    if (_currentState != name) {
+        _currentState = name;
+        emit currentStateChanged();
+    }
+}
+
+void Vehicle::_updateMode(int, QString name, QString)
+{
+    if (name.size()) {
+        QString shortMode = name;
+        shortMode = shortMode.replace("D|", "");
+        shortMode = shortMode.replace("A|", "");
+        if (_currentMode != shortMode) {
+            _currentMode = shortMode;
+            emit currentModeChanged();
+        }
+    }
+}
+
+void Vehicle::_updateName(const QString& name)
+{
+    if (_systemName != name) {
+        _systemName = name;
+        emit systemNameChanged();
+    }
+}
+
+/**
+ * The current system type is represented through the system icon.
+ *
+ * @param uas Source system, has to be the same as this->uas
+ * @param systemType type ID, following the MAVLink system type conventions
+ * @see http://pixhawk.ethz.ch/software/mavlink
+ */
+void Vehicle::_setSystemType(UASInterface*, unsigned int systemType)
+{
+    _systemPixmap = "qrc:/res/mavs/";
+    switch (systemType) {
+        case MAV_TYPE_GENERIC:
+            _systemPixmap += "Generic";
+            break;
+        case MAV_TYPE_FIXED_WING:
+            _systemPixmap += "FixedWing";
+            break;
+        case MAV_TYPE_QUADROTOR:
+            _systemPixmap += "QuadRotor";
+            break;
+        case MAV_TYPE_COAXIAL:
+            _systemPixmap += "Coaxial";
+            break;
+        case MAV_TYPE_HELICOPTER:
+            _systemPixmap += "Helicopter";
+            break;
+        case MAV_TYPE_ANTENNA_TRACKER:
+            _systemPixmap += "AntennaTracker";
+            break;
+        case MAV_TYPE_GCS:
+            _systemPixmap += "Groundstation";
+            break;
+        case MAV_TYPE_AIRSHIP:
+            _systemPixmap += "Airship";
+            break;
+        case MAV_TYPE_FREE_BALLOON:
+            _systemPixmap += "FreeBalloon";
+            break;
+        case MAV_TYPE_ROCKET:
+            _systemPixmap += "Rocket";
+            break;
+        case MAV_TYPE_GROUND_ROVER:
+            _systemPixmap += "GroundRover";
+            break;
+        case MAV_TYPE_SURFACE_BOAT:
+            _systemPixmap += "SurfaceBoat";
+            break;
+        case MAV_TYPE_SUBMARINE:
+            _systemPixmap += "Submarine";
+            break;
+        case MAV_TYPE_HEXAROTOR:
+            _systemPixmap += "HexaRotor";
+            break;
+        case MAV_TYPE_OCTOROTOR:
+            _systemPixmap += "OctoRotor";
+            break;
+        case MAV_TYPE_TRICOPTER:
+            _systemPixmap += "TriCopter";
+            break;
+        case MAV_TYPE_FLAPPING_WING:
+            _systemPixmap += "FlappingWing";
+            break;
+        case MAV_TYPE_KITE:
+            _systemPixmap += "Kite";
+            break;
+        default:
+            _systemPixmap += "Unknown";
+            break;
+    }
+    emit systemPixmapChanged();
+}
+
+void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
+{
+    unsigned int elapsed = ms;
+    if (!timeout)
+    {
+        elapsed = 0;
+    }
+    if(elapsed != _currentHeartbeatTimeout) {
+        _currentHeartbeatTimeout = elapsed;
+        emit heartbeatTimeoutChanged();
+    }
+}
+
+void Vehicle::_setSatelliteCount(double val, QString)
+{
+    // I'm assuming that a negative value or over 99 means there is no GPS
+    if(val < 0.0)  val = -1.0;
+    if(val > 99.0) val = -1.0;
+    if(_satelliteCount != (int)val) {
+        _satelliteCount = (int)val;
+        emit satelliteCountChanged();
+    }
+}
+
+void Vehicle::_setSatLoc(UASInterface*, int fix)
 {
-    _heading = yaw * (180.0 / M_PI);
-    emit headingChanged(_heading);
+    // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
+    if(_satelliteLock != fix) {
+        _satelliteLock = fix;
+        emit satelliteLockChanged();
+    }
+}
+
+void Vehicle::_updateWaypointDistance(double distance)
+{
+    if (_waypointDistance != distance) {
+        _waypointDistance = distance;
+        emit waypointDistanceChanged();
+    }
+}
+
+void Vehicle::_updateCurrentWaypoint(quint16 id)
+{
+    if (_currentWaypoint != id) {
+        _currentWaypoint = id;
+        emit currentWaypointChanged();
+    }
+}
+
+void Vehicle::_updateWaypointViewOnly(int, Waypoint* /*wp*/)
+{
+    /*
+     bool changed = false;
+     for(int i = 0; i < _waypoints.count(); i++) {
+     if(_waypoints[i].getId() == wp->getId()) {
+     _waypoints[i] = *wp;
+     changed = true;
+     break;
+     }
+     }
+     if(changed) {
+     emit waypointListChanged();
+     }
+     */
+}
+
+void Vehicle::_waypointViewOnlyListChanged()
+{
+    if(_wpm) {
+        const QList<Waypoint*> &waypoints = _wpm->getWaypointViewOnlyList();
+        _waypoints.clear();
+        for(int i = 0; i < waypoints.count(); i++) {
+            Waypoint* wp = waypoints[i];
+            _waypoints.append(new Waypoint(*wp));
+        }
+        emit waypointsChanged();
+        /*
+         if(_longitude == DEFAULT_LON && _latitude == DEFAULT_LAT && _waypoints.length()) {
+         _longitude = _waypoints[0]->getLongitude();
+         _latitude  = _waypoints[0]->getLatitude();
+         emit longitudeChanged();
+         emit latitudeChanged();
+         }
+         */
+    }
+}
+
+void Vehicle::_handleTextMessage(int newCount)
+{
+    // Reset?
+    if(!newCount) {
+        _currentMessageCount = 0;
+        _currentNormalCount  = 0;
+        _currentWarningCount = 0;
+        _currentErrorCount   = 0;
+        _messageCount        = 0;
+        _currentMessageType  = MessageNone;
+        emit newMessageCountChanged();
+        emit messageTypeChanged();
+        emit messageCountChanged();
+        return;
+    }
+    
+    UASMessageHandler* pMh = UASMessageHandler::instance();
+    Q_ASSERT(pMh);
+    MessageType_t type = newCount ? _currentMessageType : MessageNone;
+    int errorCount     = _currentErrorCount;
+    int warnCount      = _currentWarningCount;
+    int normalCount    = _currentNormalCount;
+    //-- Add current message counts
+    errorCount  += pMh->getErrorCount();
+    warnCount   += pMh->getWarningCount();
+    normalCount += pMh->getNormalCount();
+    //-- See if we have a higher level
+    if(errorCount != _currentErrorCount) {
+        _currentErrorCount = errorCount;
+        type = MessageError;
+    }
+    if(warnCount != _currentWarningCount) {
+        _currentWarningCount = warnCount;
+        if(_currentMessageType != MessageError) {
+            type = MessageWarning;
+        }
+    }
+    if(normalCount != _currentNormalCount) {
+        _currentNormalCount = normalCount;
+        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
+            type = MessageNormal;
+        }
+    }
+    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
+    if(count != _currentMessageCount) {
+        _currentMessageCount = count;
+        // Display current total new messages count
+        emit newMessageCountChanged();
+    }
+    if(type != _currentMessageType) {
+        _currentMessageType = type;
+        // Update message level
+        emit messageTypeChanged();
+    }
+    // Update message count (all messages)
+    if(newCount != _messageCount) {
+        _messageCount = newCount;
+        emit messageCountChanged();
+    }
+    QString errMsg = pMh->getLatestError();
+    if(errMsg != _latestError) {
+        _latestError = errMsg;
+        emit latestErrorChanged();
+    }
+}
+
+void Vehicle::resetMessages()
+{
+    // Reset Counts
+    int count = _currentMessageCount;
+    MessageType_t type = _currentMessageType;
+    _currentErrorCount   = 0;
+    _currentWarningCount = 0;
+    _currentNormalCount  = 0;
+    _currentMessageCount = 0;
+    _currentMessageType = MessageNone;
+    if(count != _currentMessageCount) {
+        emit newMessageCountChanged();
+    }
+    if(type != _currentMessageType) {
+        emit messageTypeChanged();
+    }
 }

src/Vehicle/Vehicle.h

@@ -45,13 +45,50 @@ class Vehicle : public QObject
     
 public:
     Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType);
+    ~Vehicle();
     
     Q_PROPERTY(int id READ id CONSTANT)
     Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
     
     Q_PROPERTY(QGeoCoordinate coordinate MEMBER _geoCoordinate NOTIFY coordinateChanged)
     
-    Q_PROPERTY(double heading MEMBER _heading NOTIFY headingChanged)
+    Q_INVOKABLE QString     getMavIconColor();
+    
+    //-- System Messages
+    Q_PROPERTY(bool         messageTypeNone     READ messageTypeNone    NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool         messageTypeNormal   READ messageTypeNormal  NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool         messageTypeWarning  READ messageTypeWarning NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool         messageTypeError    READ messageTypeError   NOTIFY messageTypeChanged)
+    Q_PROPERTY(int          newMessageCount     READ newMessageCount    NOTIFY newMessageCountChanged)
+    Q_PROPERTY(int          messageCount        READ messageCount       NOTIFY messageCountChanged)
+    Q_PROPERTY(QString      latestError         READ latestError        NOTIFY latestErrorChanged)
+    //-- UAV Stats
+    Q_PROPERTY(float        roll                READ roll               NOTIFY rollChanged)
+    Q_PROPERTY(float        pitch               READ pitch              NOTIFY pitchChanged)
+    Q_PROPERTY(float        heading             READ heading            NOTIFY headingChanged)
+    Q_PROPERTY(float        groundSpeed         READ groundSpeed        NOTIFY groundSpeedChanged)
+    Q_PROPERTY(float        airSpeed            READ airSpeed           NOTIFY airSpeedChanged)
+    Q_PROPERTY(float        climbRate           READ climbRate          NOTIFY climbRateChanged)
+    Q_PROPERTY(float        altitudeRelative    READ altitudeRelative   NOTIFY altitudeRelativeChanged)
+    Q_PROPERTY(float        altitudeWGS84       READ altitudeWGS84      NOTIFY altitudeWGS84Changed)
+    Q_PROPERTY(float        altitudeAMSL        READ altitudeAMSL       NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(float        latitude            READ latitude           NOTIFY latitudeChanged)
+    Q_PROPERTY(float        longitude           READ longitude          NOTIFY longitudeChanged)
+    Q_PROPERTY(double       batteryVoltage      READ batteryVoltage     NOTIFY batteryVoltageChanged)
+    Q_PROPERTY(double       batteryPercent      READ batteryPercent     NOTIFY batteryPercentChanged)
+    Q_PROPERTY(double       batteryConsumed     READ batteryConsumed    NOTIFY batteryConsumedChanged)
+    Q_PROPERTY(bool         systemArmed         READ systemArmed        NOTIFY systemArmedChanged)
+    Q_PROPERTY(QString      currentMode         READ currentMode        NOTIFY currentModeChanged)
+    Q_PROPERTY(QString      systemPixmap        READ systemPixmap       NOTIFY systemPixmapChanged)
+    Q_PROPERTY(int          satelliteCount      READ satelliteCount     NOTIFY satelliteCountChanged)
+    Q_PROPERTY(QString      currentState        READ currentState       NOTIFY currentStateChanged)
+    Q_PROPERTY(QString      systemName          READ systemName         NOTIFY systemNameChanged)
+    Q_PROPERTY(int          satelliteLock       READ satelliteLock      NOTIFY satelliteLockChanged)
+    Q_PROPERTY(double       waypointDistance    READ waypointDistance   NOTIFY waypointDistanceChanged)
+    Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
+    Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
+    //-- Waypoint management
+    Q_PROPERTY(QQmlListProperty<Waypoint> waypoints READ waypoints NOTIFY waypointsChanged)
     
     // Property accesors
     int id(void) { return _id; }
@@ -68,6 +105,64 @@ public:
     
     QList<LinkInterface*> links(void);
     
+    typedef enum {
+        MessageNone,
+        MessageNormal,
+        MessageWarning,
+        MessageError
+    } MessageType_t;
+    
+    enum {
+        ROLL_CHANGED,
+        PITCH_CHANGED,
+        HEADING_CHANGED,
+        GROUNDSPEED_CHANGED,
+        AIRSPEED_CHANGED,
+        CLIMBRATE_CHANGED,
+        ALTITUDERELATIVE_CHANGED,
+        ALTITUDEWGS84_CHANGED,
+        ALTITUDEAMSL_CHANGED
+    };
+    
+    // Called when the message drop-down is invoked to clear current count
+    void resetMessages();
+    
+    
+    bool            messageTypeNone     () { return _currentMessageType == MessageNone; }
+    bool            messageTypeNormal   () { return _currentMessageType == MessageNormal; }
+    bool            messageTypeWarning  () { return _currentMessageType == MessageWarning; }
+    bool            messageTypeError    () { return _currentMessageType == MessageError; }
+    int             newMessageCount     () { return _currentMessageCount; }
+    int             messageCount        () { return _messageCount; }
+    QString         latestError         () { return _latestError; }
+    float           roll                () { return _roll; }
+    float           pitch               () { return _pitch; }
+    float           heading             () { return _heading; }
+    float           groundSpeed         () { return _groundSpeed; }
+    float           airSpeed            () { return _airSpeed; }
+    float           climbRate           () { return _climbRate; }
+    float           altitudeRelative    () { return _altitudeRelative; }
+    float           altitudeWGS84       () { return _altitudeWGS84; }
+    float           altitudeAMSL        () { return _altitudeAMSL; }
+    float           latitude            () { return _latitude; }
+    float           longitude           () { return _longitude; }
+    bool            mavPresent          () { return _mav != NULL; }
+    int             satelliteCount      () { return _satelliteCount; }
+    double          batteryVoltage      () { return _batteryVoltage; }
+    double          batteryPercent      () { return _batteryPercent; }
+    double          batteryConsumed     () { return _batteryConsumed; }
+    bool            systemArmed         () { return _systemArmed; }
+    QString         currentMode         () { return _currentMode; }
+    QString         systemPixmap        () { return _systemPixmap; }
+    QString         currentState        () { return _currentState; }
+    QString         systemName          () { return _systemName; }
+    int             satelliteLock       () { return _satelliteLock; }
+    double          waypointDistance    () { return _waypointDistance; }
+    uint16_t        currentWaypoint     () { return _currentWaypoint; }
+    unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
+    
+    QQmlListProperty<Waypoint> waypoints() {return QQmlListProperty<Waypoint>(this, _waypoints); }
+    
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -75,21 +170,81 @@ public slots:
 signals:
     void allLinksDisconnected(void);
     void coordinateChanged(QGeoCoordinate coordinate);
-    void headingChanged(double heading);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
     
+    void messageTypeChanged     ();
+    void newMessageCountChanged ();
+    void messageCountChanged    ();
+    void latestErrorChanged     ();
+    void rollChanged            ();
+    void pitchChanged           ();
+    void headingChanged         ();
+    void groundSpeedChanged     ();
+    void airSpeedChanged        ();
+    void climbRateChanged       ();
+    void altitudeRelativeChanged();
+    void altitudeWGS84Changed   ();
+    void altitudeAMSLChanged    ();
+    void latitudeChanged        ();
+    void longitudeChanged       ();
+    void batteryVoltageChanged  ();
+    void batteryPercentChanged  ();
+    void batteryConsumedChanged ();
+    void systemArmedChanged     ();
+    void heartbeatTimeoutChanged();
+    void currentModeChanged     ();
+    void currentConfigChanged   ();
+    void systemPixmapChanged    ();
+    void satelliteCountChanged  ();
+    void currentStateChanged    ();
+    void systemNameChanged      ();
+    void satelliteLockChanged   ();
+    void waypointDistanceChanged();
+    void currentWaypointChanged ();
+    void waypointsChanged       ();
+    
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
     void _linkDisconnected(LinkInterface* link);
     void _sendMessage(mavlink_message_t message);
-    void _setYaw(double yaw);
+    
+    void _handleTextMessage                 (int newCount);
+    /** @brief Attitude from main autopilot / system state */
+    void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Attitude from one specific component / redundant autopilot */
+    void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Speed */
+    void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
+    /** @brief Altitude */
+    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
+    void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
+    void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
+    void _checkUpdate                       ();
+    void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
+    void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);
+    void _updateArmingState                 (bool armed);
+    void _updateState                       (UASInterface* system, QString name, QString description);
+    void _updateMode                        (int system, QString name, QString description);
+    void _updateName                        (const QString& name);
+    void _setSystemType                     (UASInterface* uas, unsigned int systemType);
+    void _heartbeatTimeout                  (bool timeout, unsigned int ms);
+    void _updateCurrentWaypoint             (quint16 id);
+    void _updateWaypointDistance            (double distance);
+    void _setSatelliteCount                 (double val, QString name);
+    void _setSatLoc                         (UASInterface* uas, int fix);
+    void _updateWaypointViewOnly            (int uas, Waypoint* wp);
+    void _waypointViewOnlyListChanged       ();
 
 private:
     bool _containsLink(LinkInterface* link);
     void _addLink(LinkInterface* link);
+    bool    _isAirplane                     ();
+    void    _addChange                      (int id);
+    float   _oneDecimal                     (float value);
 
+private:
     int             _id;            ///< Mavlink system id
     MAV_AUTOPILOT   _firmwareType;
     
@@ -105,7 +260,46 @@ private:
     
     QGeoCoordinate  _geoCoordinate;
     
-    double _heading;
+    UASInterface*   _mav;
+    int             _currentMessageCount;
+    int             _messageCount;
+    int             _currentErrorCount;
+    int             _currentWarningCount;
+    int             _currentNormalCount;
+    MessageType_t   _currentMessageType;
+    QString         _latestError;
+    float           _roll;
+    float           _pitch;
+    float           _heading;
+    float           _altitudeAMSL;
+    float           _altitudeWGS84;
+    float           _altitudeRelative;
+    float           _groundSpeed;
+    float           _airSpeed;
+    float           _climbRate;
+    float           _navigationAltitudeError;
+    float           _navigationSpeedError;
+    float           _navigationCrosstrackError;
+    float           _navigationTargetBearing;
+    float           _latitude;
+    float           _longitude;
+    QTimer*         _refreshTimer;
+    QList<int>      _changes;
+    double          _batteryVoltage;
+    double          _batteryPercent;
+    double          _batteryConsumed;
+    bool            _systemArmed;
+    QString         _currentState;
+    QString         _currentMode;
+    QString         _systemName;
+    QString         _systemPixmap;
+    unsigned int    _currentHeartbeatTimeout;
+    double          _waypointDistance;
+    quint16         _currentWaypoint;
+    int             _satelliteCount;
+    int             _satelliteLock;
+    UASWaypointManager* _wpm;
+    int             _updateCount;
+    QList<Waypoint*>_waypoints;
 };
-
 #endif

src/uas/UAS.cc

@@ -298,7 +298,6 @@ void UAS::readSettings()
     QSettings settings;
     settings.beginGroup(QString("MAV%1").arg(uasId));
     this->name = settings.value("NAME", this->name).toString();
-    qDebug() << "Name" << name;
     this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
     if (settings.contains("BATTERY_SPECS"))
     {

src/ui/flightdisplay/FlightDisplay.qml

@@ -33,7 +33,6 @@ import QtQuick.Controls.Styles 1.2
 import QtQuick.Dialogs 1.2
 
 import QGroundControl.FlightMap 1.0
-import QGroundControl.MavManager 1.0
 import QGroundControl.ScreenTools 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Palette 1.0
@@ -43,8 +42,27 @@ Item {
 
     property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
 
-    property real roll:    isNaN(MavManager.roll)    ? 0 : MavManager.roll
-    property real pitch:   isNaN(MavManager.pitch)   ? 0 : MavManager.pitch
+    property var activeVehicle: multiVehicleManager.activeVehicle
+
+    readonly property real defaultLatitude:         37.803784
+    readonly property real defaultLongitude:        -122.462276
+    readonly property real defaultRoll:             0
+    readonly property real defaultPitch:            0
+    readonly property real defaultHeading:          0
+    readonly property real defaultAltitudeWGS84:    0
+    readonly property real defaultGroundSpeed:      0
+    readonly property real defaultAirSpeed:         0
+    readonly property real defaultClimbRate:        0
+
+    property real roll:             activeVehicle ? (isNaN(activeVehicle.roll) ? defaultRoll : activeVehicle.roll) : defaultRoll
+    property real pitch:            activeVehicle ? (isNaN(activeVehicle.pitch) ? defaultPitch : activeVehicle.pitch) : defaultPitch
+    property real latitude:         activeVehicle ? ((activeVehicle.latitude  === 0) ? defaultLatitude : activeVehicle.latitude) : defaultLatitude
+    property real longitude:        activeVehicle ? ((activeVehicle.longitude === 0) ? defaultlongitude : activeVehicle.longitude) : defaultLongitude
+    property real heading:          activeVehicle ? (isNaN(activeVehicle.heading) ? defaultHeading : activeVehicle.heading) : defaultHeading
+    property real altitudeWGS84:    activeVehicle ? activeVehicle.altitudeWGS84 : defaultAltitudeWGS84
+    property real groundSpeed:      activeVehicle ? activeVehicle.groundSpeed : defaultGroundSpeed
+    property real airSpeed:         activeVehicle ? activeVehicle.airSpeed : defaultAirSpeed
+    property real climbRate:        activeVehicle ? activeVehicle.climbRate : defaultClimbRate
 
     property bool showPitchIndicator:       true
 
@@ -73,7 +91,6 @@ Item {
     Component.onCompleted:
     {
         mapBackground.visible               = getBool(flightDisplay.loadSetting("showMapBackground",        "0"));
-        mapBackground.showWaypoints         = getBool(flightDisplay.loadSetting("mapShowWaypoints",         "0"));
         mapBackground.alwaysNorth           = getBool(flightDisplay.loadSetting("mapAlwaysPointsNorth",     "0"));
         videoBackground.visible             = getBool(flightDisplay.loadSetting("showVideoBackground",      "0"));
         showPitchIndicator                  = getBool(flightDisplay.loadSetting("showPitchIndicator",       "1"));
@@ -126,18 +143,6 @@ Item {
             }
         }
 
-        MenuItem {
-            text: "Map Show Waypoints"
-            checkable: true
-            checked: mapBackground.showWaypoints
-            enabled: mapBackground.visible
-            onTriggered:
-            {
-                mapBackground.showWaypoints = !mapBackground.showWaypoints;
-                flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
-            }
-        }
-
         /*
         //-- Off until Qt 5.5.x, which fixes bug in 5.4.x
         MenuItem {
@@ -340,23 +345,12 @@ Item {
         id:                 mapBackground
         anchors.fill:       parent
         mapName:            'MainFlightDisplay'
-        heading:            0 // isNaN(MavManager.heading) ? 0 : MavManager.heading
-        latitude:           mapBackground.visible ? ((MavManager.latitude  === 0) ?   37.803784 : MavManager.latitude)  :   37.803784
-        longitude:          mapBackground.visible ? ((MavManager.longitude === 0) ? -122.462276 : MavManager.longitude) : -122.462276
+        latitude:           mapBackground.visible ? root.latitude : root.defaultLatitude
+        longitude:          mapBackground.visible ? root.longitude : root.defaultLongitude
         readOnly:           true
-      //interactive:        !MavManager.mavPresent
         z:                  10
     }
 
-    QGCHudMessage {
-        id:                 hudMessage
-        y:                  ScreenTools.defaultFontPizelSize * (0.42)
-        width:              (parent.width - 520 > 200) ? parent.width - 520 : 200
-        height:             ScreenTools.defaultFontPizelSize * (2.5)
-        anchors.horizontalCenter: parent.horizontalCenter
-        z:                  mapBackground.z + 1
-    }
-
     // Floating (Top Left) Compass Widget
 
     QGCCompassWidget {
@@ -364,7 +358,7 @@ Item {
         y:                  ScreenTools.defaultFontPixelSize * (0.42)
         x:                  ScreenTools.defaultFontPixelSize * (7.1)
         size:               ScreenTools.defaultFontPixelSize * (13.3)
-        heading:            isNaN(MavManager.heading) ? 0 : MavManager.heading
+        heading:            root.heading
         z:                  mapBackground.z + 2
         onResetRequested: {
             y               = ScreenTools.defaultFontPixelSize * (0.42)
@@ -383,7 +377,7 @@ Item {
         x:                  root.width  * 0.5 - ScreenTools.defaultFontPixelSize * (5)
         width:              ScreenTools.defaultFontPixelSize * (10)
         height:             ScreenTools.defaultFontPixelSize * (10)
-        heading:            isNaN(MavManager.heading) ? 0 : MavManager.heading
+        heading:            root.heading
         z:                  70
     }
 
@@ -436,7 +430,7 @@ Item {
         anchors.right:      parent.right
         width:              ScreenTools.defaultFontPixelSize * (5)
         height:             parent.height * 0.65 > ScreenTools.defaultFontPixelSize * (23.4) ? ScreenTools.defaultFontPixelSize * (23.4) : parent.height * 0.65
-        altitude:           MavManager.altitudeWGS84
+        altitude:           root.altitudeWGS84
         z:                  30
     }
 
@@ -445,7 +439,7 @@ Item {
         anchors.left:       parent.left
         width:              ScreenTools.defaultFontPixelSize * (5)
         height:             parent.height * 0.65 > ScreenTools.defaultFontPixelSize * (23.4) ? ScreenTools.defaultFontPixelSize * (23.4) : parent.height * 0.65
-        speed:              MavManager.groundSpeed
+        speed:              root.groundSpeed
         z:                  40
     }
 
@@ -453,8 +447,8 @@ Item {
         id: currentSpeed
         anchors.left:       parent.left
         width:              ScreenTools.defaultFontPixelSize * (6.25)
-        airspeed:           MavManager.airSpeed
-        groundspeed:        MavManager.groundSpeed
+        airspeed:           root.airSpeed
+        groundspeed:        root.groundSpeed
         showAirSpeed:       true
         showGroundSpeed:    true
         visible:            (currentSpeed.showGroundSpeed || currentSpeed.showAirSpeed)
@@ -465,8 +459,8 @@ Item {
         id: currentAltitude
         anchors.right:      parent.right
         width:              ScreenTools.defaultFontPixelSize * (6.25)
-        altitude:           MavManager.altitudeWGS84
-        vertZ:              MavManager.climbRate
+        altitude:           root.altitudeWGS84
+        vertZ:              root.climbRate
         showAltitude:       true
         showClimbRate:      true
         visible:            (currentAltitude.showAltitude || currentAltitude.showClimbRate)

src/ui/toolbar/MainToolBar.cc

@@ -37,7 +37,6 @@ This file is part of the QGROUNDCONTROL project
 #include "UASMessageHandler.h"
 #include "FlightDisplay.h"
 #include "QGCApplication.h"
-#include "MavManager.h"
 #include "MultiVehicleManager.h"
 
 MainToolBar::MainToolBar(QWidget* parent)
@@ -220,8 +219,8 @@ void MainToolBar::onEnterMessageArea(int x, int y)
     // If not already there and messages are actually present
     if(!_rollDownMessages && UASMessageHandler::instance()->messages().count())
     {
-        if(qgcApp()->getMavManager())
-            qgcApp()->getMavManager()->resetMessages();
+        if (MultiVehicleManager::instance()->activeVehicle())
+            MultiVehicleManager::instance()->activeVehicle()->resetMessages();
         // Show messages
         int dialogWidth = 400;
         x = x - (dialogWidth >> 1);

src/ui/toolbar/MainToolBar.qml

@@ -35,7 +35,7 @@ import QGroundControl.Controls 1.0
 import QGroundControl.FactControls          1.0
 import QGroundControl.Palette               1.0
 import QGroundControl.MainToolBar           1.0
-import QGroundControl.MavManager 1.0
+import QGroundControl.MultiVehicleManager   1.0
 import QGroundControl.ScreenTools           1.0
 
 Rectangle {
@@ -43,6 +43,8 @@ Rectangle {
 
     property var qgcPal: QGCPalette { id: palette; colorGroupEnabled: true }
 
+    property var activeVehicle: multiVehicleManager.activeVehicle
+
     readonly property real toolBarHeight:   ScreenTools.defaultFontPixelHeight * 3
     property int cellSpacerSize:            ScreenTools.isMobile ? getProportionalDimmension(6) : getProportionalDimmension(4)
     readonly property int cellHeight:       toolBarHeight * 0.75
@@ -82,44 +84,44 @@ Rectangle {
     }
 
     function getMessageColor() {
-        if(MavManager.messageType === MavManager.MessageNone)
+        if (activeVehicle.messageTypeNone)
             return qgcPal.button;
-        if(MavManager.messageType === MavManager.MessageNormal)
+        if (activeVehicle.messageTypeNorma)
             return colorBlue;
-        if(MavManager.messageType === MavManager.MessageWarning)
+        if (activeVehicle.messageTypeWarning)
             return colorOrange;
-        if(MavManager.messageType === MavManager.MessageError)
+        if (activeVehicle.messageTypeError)
             return colorRed;
         // Cannot be so make make it obnoxious to show error
         return "purple";
     }
 
     function getMessageIcon() {
-        if(MavManager.messageType === MavManager.MessageNormal || MavManager.messageType === MavManager.MessageNone)
+        if (activeVehicle.messageTypeNormal || activeVehicle.messageTypeNone)
             return "qrc:/res/Megaphone";
         else
             return "qrc:/res/Yield";
     }
 
     function getBatteryIcon() {
-        if(MavManager.batteryPercent < 20.0)
+        if(activeVehicle.batteryPercent < 20.0)
             return "qrc:/res/Battery_0";
-        else if(MavManager.batteryPercent < 40.0)
+        else if(activeVehicle.batteryPercent < 40.0)
             return "qrc:/res/Battery_20";
-        else if(MavManager.batteryPercent < 60.0)
+        else if(activeVehicle.batteryPercent < 60.0)
             return "qrc:/res/Battery_40";
-        else if(MavManager.batteryPercent < 80.0)
+        else if(activeVehicle.batteryPercent < 80.0)
             return "qrc:/res/Battery_60";
-        else if(MavManager.batteryPercent < 90.0)
+        else if(activeVehicle.batteryPercent < 90.0)
             return "qrc:/res/Battery_80";
         else
             return "qrc:/res/Battery_100";
     }
 
     function getBatteryColor() {
-        if (MavManager.batteryPercent > 40.0)
+        if (activeVehicle.batteryPercent > 40.0)
             return colorGreen;
-        if(MavManager.batteryPercent > 0.01)
+        if(activeVehicle.batteryPercent > 0.01)
             return colorRed;
         // This means there is no battery level data
         return colorBlue;
@@ -127,13 +129,13 @@ Rectangle {
 
     function getSatelliteColor() {
         // No GPS data
-        if (MavManager.satelliteCount < 0)
+        if (activeVehicle.satelliteCount < 0)
             return qgcPal.button
         // No Lock
-        if(MavManager.satelliteLock < 2)
+        if(activeVehicle.satelliteLock < 2)
             return colorRed;
         // 2D Lock
-        if(MavManager.satelliteLock === 2)
+        if(activeVehicle.satelliteLock === 2)
             return colorBlue;
         // Lock is 3D or more
         return colorGreen;
@@ -148,7 +150,7 @@ Rectangle {
     }
 
     function showMavStatus() {
-         return (MavManager.mavPresent && MavManager.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
+         return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
     }
 
     //-------------------------------------------------------------------------
@@ -197,136 +199,18 @@ Rectangle {
         }
     } // Menu
 
-    Row {
-        id:         toolRow
-        x:          horizontalMargins
-        y:          (toolBarHeight - cellHeight) / 2
-        height:     cellHeight
-        spacing:    getProportionalDimmension(4)
+    Component {
+        id: activeVehicleComponent
 
-        //---------------------------------------------------------------------
-        //-- Main menu for Non Mobile Devices (Chevron Buttons)
         Row {
-            id:             row11
-            height:         cellHeight
-            spacing:        -getProportionalDimmension(12)
-            anchors.top:    parent.top
-            visible:        !ScreenTools.isMobile
-
-            Connections {
-                target: ScreenTools
-                onRepaintRequested: {
-                    setupButton.repaintChevron   = true;
-                    planButton.repaintChevron    = true;
-                    flyButton.repaintChevron     = true;
-                    analyzeButton.repaintChevron = true;
-                }
-            }
-
-            ExclusiveGroup { id: mainActionGroup }
-
-            QGCToolBarButton {
-                id: setupButton
-                width: getProportionalDimmension(90)
-                height: cellHeight
-                exclusiveGroup: mainActionGroup
-                text: qsTr("Setup")
-                checked: (mainToolBar.currentView === MainToolBar.ViewSetup)
-                onClicked: {
-                    mainToolBar.onSetupView();
-                }
-                z: 1000
-            }
-
-            QGCToolBarButton {
-                id: planButton
-                width: getProportionalDimmension(90)
-                height: cellHeight
-                exclusiveGroup: mainActionGroup
-                text: qsTr("Plan")
-                checked: (mainToolBar.currentView === MainToolBar.ViewPlan)
-                onClicked: {
-                    mainToolBar.onPlanView();
-                }
-                z: 900
-            }
-
-            QGCToolBarButton {
-                id: flyButton
-                width: getProportionalDimmension(90)
-                height: cellHeight
-                exclusiveGroup: mainActionGroup
-                text: qsTr("Fly")
-                checked: (mainToolBar.currentView === MainToolBar.ViewFly)
-                onClicked: {
-                    mainToolBar.onFlyView();
-                }
-                z: 800
-            }
-
-            QGCToolBarButton {
-                id: analyzeButton
-                width: getProportionalDimmension(90)
-                height: cellHeight
-                exclusiveGroup: mainActionGroup
-                text: qsTr("Analyze")
-                checked: (mainToolBar.currentView === MainToolBar.ViewAnalyze)
-                onClicked: {
-                    mainToolBar.onAnalyzeView();
-                }
-                z: 700
-            }
-        } // Row
-
-        //---------------------------------------------------------------------
-        //-- Indicators
-        Row {
-            id:                     row12
             height:     cellHeight
             spacing:    cellSpacerSize
-            anchors.verticalCenter: parent.verticalCenter
-
-            //-- "Hamburger" menu for Mobile Devices
-            Item {
-                id:         actionButton
-                visible:    ScreenTools.isMobile
-                height:     cellHeight
-                width:      cellHeight
-                Image {
-                    id:             buttomImg
-                    anchors.fill:   parent
-                    source:         "/qmlimages/buttonMore.svg"
-                    mipmap:         true
-                    smooth:         true
-                    antialiasing:   true
-                    fillMode:       Image.PreserveAspectFit
-                }
-                MouseArea {
-                    anchors.fill: parent
-                    acceptedButtons: Qt.LeftButton
-                    onClicked: {
-                        if (mouse.button == Qt.LeftButton)
-                        {
-                            maintMenu.popup();
-                        }
-                    }
-                }
-            }
-
-            //-- Separator if Hamburger menu is visible
-            Rectangle {
-                visible:    actionButton.visible
-                height:     cellHeight
-                width:      cellHeight
-                color:      "#00000000"
-                anchors.verticalCenter: parent.verticalCenter
-            }
 
             Rectangle {
                 id: messages
-                width: (MavManager.messageCount > 99) ? getProportionalDimmension(65) : getProportionalDimmension(60)
+                width: (activeVehicle.messageCount > 99) ? getProportionalDimmension(65) : getProportionalDimmension(60)
                 height: cellHeight
-                visible: (mainToolBar.connectionCount > 0) && (mainToolBar.showMessages)
+                visible: mainToolBar.showMessages
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getMessageColor()
                 border.color: "#00000000"
@@ -350,7 +234,7 @@ Rectangle {
                     width: messages.width - messageIcon.width
                     QGCLabel {
                         id: messageText
-                        text: (MavManager.messageCount > 0) ? MavManager.messageCount : ''
+                        text: (activeVehicle.messageCount > 0) ? activeVehicle.messageCount : ''
                         font.pixelSize: ScreenTools.smallFontPixelSize
                         font.weight: Font.DemiBold
                         anchors.verticalCenter: parent.verticalCenter
@@ -363,7 +247,7 @@ Rectangle {
                 Image {
                     id: dropDown
                     source: "/qmlimages/arrow-down.png"
-                    visible: (messages.showTriangle) && (MavManager.messageCount > 0)
+                    visible: (messages.showTriangle) && (activeVehicle.messageCount > 0)
                     anchors.bottom: parent.bottom
                     anchors.right: parent.right
                     anchors.bottomMargin: getProportionalDimmension(3)
@@ -399,13 +283,13 @@ Rectangle {
                 id: mavIcon
                 width: cellHeight
                 height: cellHeight
-                visible: showMavStatus() &&  (mainToolBar.showMav)
+                visible: mainToolBar.showMav
                 anchors.verticalCenter: parent.verticalCenter
                 color: colorBlue
                 border.color: "#00000000"
                 border.width: 0
                 Image {
-                    source: MavManager.systemPixmap
+                    source: activeVehicle.systemPixmap
                     height: cellHeight * 0.75
                     fillMode: Image.PreserveAspectFit
                     anchors.verticalCenter: parent.verticalCenter
@@ -417,7 +301,7 @@ Rectangle {
                 id: satelitte
                 width:  getProportionalDimmension(55)
                 height: cellHeight
-                visible: showMavStatus() && (mainToolBar.showGPS)
+                visible: mainToolBar.showGPS
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getSatelliteColor();
                 border.color: "#00000000"
@@ -436,8 +320,8 @@ Rectangle {
 
                 QGCLabel {
                     id: satelitteText
-                    text: MavManager.satelliteCount >= 0 ? MavManager.satelliteCount : 'NA'
-                    font.pixelSize: MavManager.satelliteCount >= 0 ? ScreenTools.defaultFontPixelSize : ScreenTools.smallFontPixelSize
+                    text: activeVehicle.satelliteCount >= 0 ? activeVehicle.satelliteCount : 'NA'
+                    font.pixelSize: activeVehicle.satelliteCount >= 0 ? ScreenTools.defaultFontPixelSize : ScreenTools.smallFontPixelSize
                     font.weight: Font.DemiBold
                     anchors.verticalCenter: parent.verticalCenter
                     anchors.right: parent.right
@@ -451,7 +335,7 @@ Rectangle {
                 id: rssiRC
                 width:  getProportionalDimmension(55)
                 height: cellHeight
-                visible: showMavStatus() && mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100
+                visible: mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getRSSIColor(mainToolBar.remoteRSSI);
                 border.color: "#00000000"
@@ -482,7 +366,7 @@ Rectangle {
                 id: rssiTelemetry
                 width:  getProportionalDimmension(80)
                 height: cellHeight
-                visible: showMavStatus() && (mainToolBar.showRSSI) && ((mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0))
+                visible: mainToolBar.showRSSI && (mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0)
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getRSSIColor(Math.min(mainToolBar.telemetryRRSSI,mainToolBar.telemetryLRSSI));
                 border.color: "#00000000"
@@ -540,9 +424,9 @@ Rectangle {
 
             Rectangle {
                 id: batteryStatus
-                width:  MavManager.batteryConsumed < 0.0 ? getProportionalDimmension(60) : getProportionalDimmension(80)
+                width:  activeVehicle.batteryConsumed < 0.0 ? getProportionalDimmension(60) : getProportionalDimmension(80)
                 height: cellHeight
-                visible: showMavStatus() && (mainToolBar.showBattery)
+                visible: mainToolBar.showBattery
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getBatteryColor();
                 border.color: "#00000000"
@@ -559,8 +443,8 @@ Rectangle {
                 }
 
                 QGCLabel {
-                    visible: batteryStatus.visible && MavManager.batteryConsumed < 0.0
-                    text: MavManager.batteryVoltage.toFixed(1) + 'V';
+                    visible: batteryStatus.visible && activeVehicle.batteryConsumed < 0.0
+                    text: activeVehicle.batteryVoltage.toFixed(1) + 'V';
                     font.pixelSize: ScreenTools.smallFontPixelSize
                     font.weight: Font.DemiBold
                     anchors.right: parent.right
@@ -574,9 +458,9 @@ Rectangle {
                     anchors.verticalCenter: parent.verticalCenter
                     anchors.right:          parent.right
                     anchors.rightMargin:    getProportionalDimmension(6)
-                    visible: batteryStatus.visible && MavManager.batteryConsumed >= 0.0
+                    visible: batteryStatus.visible && activeVehicle.batteryConsumed >= 0.0
                     QGCLabel {
-                        text: MavManager.batteryVoltage.toFixed(1) + 'V';
+                        text: activeVehicle.batteryVoltage.toFixed(1) + 'V';
                         width: getProportionalDimmension(30)
                         horizontalAlignment: Text.AlignRight
                         font.pixelSize: ScreenTools.smallFontPixelSize
@@ -584,7 +468,7 @@ Rectangle {
                         color: colorWhite
                     }
                     QGCLabel {
-                        text: MavManager.batteryConsumed.toFixed(0) + 'mAh';
+                        text: activeVehicle.batteryConsumed.toFixed(0) + 'mAh';
                         width: getProportionalDimmension(30)
                         horizontalAlignment: Text.AlignRight
                         font.pixelSize: ScreenTools.smallFontPixelSize
@@ -595,7 +479,6 @@ Rectangle {
             }
 
             Column {
-                visible: showMavStatus()
                 height:  cellHeight * 0.85
                 width:   getProportionalDimmension(80)
                 anchors.verticalCenter: parent.verticalCenter
@@ -611,11 +494,11 @@ Rectangle {
 
                     QGCLabel {
                         id: armedStatusText
-                        text: (MavManager.systemArmed) ? qsTr("ARMED") :  qsTr("DISARMED")
+                        text: (activeVehicle.systemArmed) ? qsTr("ARMED") :  qsTr("DISARMED")
                         font.pixelSize: ScreenTools.smallFontPixelSize
                         font.weight: Font.DemiBold
                         anchors.centerIn: parent
-                        color: (MavManager.systemArmed) ? colorOrangeText : colorGreenText
+                        color: (activeVehicle.systemArmed) ? colorOrangeText : colorGreenText
                     }
                 }
 
@@ -630,11 +513,11 @@ Rectangle {
 
                     QGCLabel {
                         id: stateStatusText
-                        text: MavManager.currentState
+                        text: activeVehicle.currentState
                         font.pixelSize: ScreenTools.smallFontPixelSize
                         font.weight: Font.DemiBold
                         anchors.centerIn: parent
-                        color: (MavManager.currentState === "STANDBY") ? colorGreenText : colorRedText
+                        color: (activeVehicle.currentState === "STANDBY") ? colorGreenText : colorRedText
                     }
                 }
 
@@ -644,14 +527,13 @@ Rectangle {
                 id: modeStatus
                 width: getProportionalDimmension(90)
                 height: cellHeight
-                visible: showMavStatus()
                 color: "#00000000"
                 border.color: "#00000000"
                 border.width: 0
 
                 QGCLabel {
                     id: modeStatusText
-                    text: MavManager.currentMode
+                    text: activeVehicle.currentMode
                     font.pixelSize: ScreenTools.smallFontPixelSize
                     font.weight: Font.DemiBold
                     anchors.horizontalCenter: parent.horizontalCenter
@@ -659,12 +541,148 @@ Rectangle {
                     color: colorWhiteText
                 }
             }
+        } // Row
+    } // Component - activeVehicleComponent
+
+    Row {
+        id:         toolRow
+        x:          horizontalMargins
+        y:          (toolBarHeight - cellHeight) / 2
+        height:     cellHeight
+        spacing:    getProportionalDimmension(4)
+
+        //---------------------------------------------------------------------
+        //-- Main menu for Non Mobile Devices (Chevron Buttons)
+        Row {
+            id:             row11
+            height:         cellHeight
+            spacing:        -getProportionalDimmension(12)
+            anchors.top:    parent.top
+            visible:        !ScreenTools.isMobile
+
+            Connections {
+                target: ScreenTools
+                onRepaintRequested: {
+                    setupButton.repaintChevron   = true;
+                    planButton.repaintChevron    = true;
+                    flyButton.repaintChevron     = true;
+                    analyzeButton.repaintChevron = true;
+                }
+            }
+
+            ExclusiveGroup { id: mainActionGroup }
+
+            QGCToolBarButton {
+                id: setupButton
+                width: getProportionalDimmension(90)
+                height: cellHeight
+                exclusiveGroup: mainActionGroup
+                text: qsTr("Setup")
+                checked: (mainToolBar.currentView === MainToolBar.ViewSetup)
+                onClicked: {
+                    mainToolBar.onSetupView();
+                }
+                z: 1000
+            }
+
+            QGCToolBarButton {
+                id: planButton
+                width: getProportionalDimmension(90)
+                height: cellHeight
+                exclusiveGroup: mainActionGroup
+                text: qsTr("Plan")
+                checked: (mainToolBar.currentView === MainToolBar.ViewPlan)
+                onClicked: {
+                    mainToolBar.onPlanView();
+                }
+                z: 900
+            }
+
+            QGCToolBarButton {
+                id: flyButton
+                width: getProportionalDimmension(90)
+                height: cellHeight
+                exclusiveGroup: mainActionGroup
+                text: qsTr("Fly")
+                checked: (mainToolBar.currentView === MainToolBar.ViewFly)
+                onClicked: {
+                    mainToolBar.onFlyView();
+                }
+                z: 800
+            }
+
+            QGCToolBarButton {
+                id: analyzeButton
+                width: getProportionalDimmension(90)
+                height: cellHeight
+                exclusiveGroup: mainActionGroup
+                text: qsTr("Analyze")
+                checked: (mainToolBar.currentView === MainToolBar.ViewAnalyze)
+                onClicked: {
+                    mainToolBar.onAnalyzeView();
+                }
+                z: 700
+            }
+        } // Row
+
+        //---------------------------------------------------------------------
+        //-- Indicators
+        Row {
+            id:                     row12
+            height:                 cellHeight
+            spacing:                cellSpacerSize
+            anchors.verticalCenter: parent.verticalCenter
+
+            //-- "Hamburger" menu for Mobile Devices
+            Item {
+                id:         actionButton
+                visible:    ScreenTools.isMobile
+                height:     cellHeight
+                width:      cellHeight
+                Image {
+                    id:             buttomImg
+                    anchors.fill:   parent
+                    source:         "/qmlimages/buttonMore.svg"
+                    mipmap:         true
+                    smooth:         true
+                    antialiasing:   true
+                    fillMode:       Image.PreserveAspectFit
+                }
+                MouseArea {
+                    anchors.fill: parent
+                    acceptedButtons: Qt.LeftButton
+                    onClicked: {
+                        if (mouse.button == Qt.LeftButton)
+                        {
+                            maintMenu.popup();
+                        }
+                    }
+                }
+            }
+
+            //-- Separator if Hamburger menu is visible
+            Rectangle {
+                visible:    actionButton.visible
+                height:     cellHeight
+                width:      cellHeight
+                color:      "#00000000"
+                anchors.verticalCenter: parent.verticalCenter
+            }
+
+            Loader {
+                id:                 activeVehicleLoader
+                visible:            showMavStatus()
+                sourceComponent:    multiVehicleManager.activeVehicleAvailable ? activeVehicleComponent : undefined
+
+                property real cellHeight:       toolBarHolder.cellHeight
+                property real cellSpacerSize:   toolBarHolder.cellSpacerSize
+            }
 
             Rectangle {
                 id: connectionStatus
                 width: getProportionalDimmension(160)
                 height: cellHeight
-                visible: (mainToolBar.connectionCount > 0 && MavManager.mavPresent && MavManager.heartbeatTimeout != 0)
+                visible: (mainToolBar.connectionCount > 0 && multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout != 0)
                 anchors.verticalCenter: parent.verticalCenter
                 color: "#00000000"
                 border.color: "#00000000"