Much better handling of missing facts

QGCApplication.pro

@@ -635,7 +635,8 @@ SOURCES += \
 # Fact System code
 
 INCLUDEPATH += \
-    src/FactSystem
+    src/FactSystem \
+    src/FactSystem/FactControls \
 
 HEADERS += \
     src/FactSystem/Fact.h \
@@ -644,6 +645,7 @@ HEADERS += \
     src/FactSystem/FactSystem.h \
     src/FactSystem/FactValidator.h \
     src/FactSystem/ParameterLoader.h \
+    src/FactSystem/FactControls/FactPanelController.h \
 
 SOURCES += \
     src/FactSystem/Fact.cc \
@@ -652,6 +654,7 @@ SOURCES += \
     src/FactSystem/FactSystem.cc \
     src/FactSystem/FactValidator.cc \
     src/FactSystem/ParameterLoader.cc \
+    src/FactSystem/FactControls/FactPanelController.cc \
 
 # Android
 

qgroundcontrol.qrc

@@ -9,6 +9,7 @@
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
 
         <file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
+        <file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
         <file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>

src/AutoPilotPlugins/PX4/AirframeComponent.qml

@@ -31,8 +31,14 @@ import QGroundControl.Palette 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Controllers 1.0
 
-Rectangle {
-    AirframeComponentController { id: controller }
+FactPanel {
+    id: panel
+
+    AirframeComponentController { id: controller; factPanel: panel }
+
+    Rectangle {
+        anchors.fill: parent
+
         QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
         color: qgcPal.window
@@ -152,4 +158,5 @@ Rectangle {
             }
 
         }
+    }
 }
\ No newline at end of file

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -37,30 +37,30 @@
 
 bool AirframeComponentController::_typesRegistered = false;
 
-AirframeComponentController::AirframeComponentController(QObject* parent) :
-    QObject(parent),
+AirframeComponentController::AirframeComponentController(void) :
     _uas(NULL),
-    _autoPilotPlugin(NULL),
     _currentVehicleIndex(0),
     _autostartId(0)
 {
     _uas = UASManager::instance()->getActiveUAS();
     Q_ASSERT(_uas);
 
-    _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
-    Q_ASSERT(_autoPilotPlugin);
-    Q_ASSERT(_autoPilotPlugin->pluginReady());
-
     if (!_typesRegistered) {
         _typesRegistered = true;
         qmlRegisterUncreatableType<AirframeType>("QGroundControl.Controllers", 1, 0, "AiframeType", "Can only reference AirframeType");
         qmlRegisterUncreatableType<Airframe>("QGroundControl.Controllers", 1, 0, "Aiframe", "Can only reference Airframe");
     }
     
+    QStringList usedFacts;
+    usedFacts << "SYS_AUTOSTART" << "SYS_AUTOCONFIG";
+    if (!_allFactsExists(usedFacts)) {
+        return;
+    }
+    
     // Load up member variables
     
     bool autostartFound = false;
-    _autostartId = _autoPilotPlugin->getParameterFact("SYS_AUTOSTART")->value().toInt();
+    _autostartId = _autopilot->getParameterFact("SYS_AUTOSTART")->value().toInt();
     
     for (const AirframeComponentAirframes::AirframeType_t* pType=&AirframeComponentAirframes::rgAirframeTypes[0]; pType->name != NULL; pType++) {
         AirframeType* airframeType = new AirframeType(pType->name, pType->imageResource, this);
@@ -101,8 +101,8 @@ void AirframeComponentController::changeAutostart(void)
 		return;
 	}
 	
-    _autoPilotPlugin->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId);
-    _autoPilotPlugin->getParameterFact("SYS_AUTOCONFIG")->setValue(1);
+    _autopilot->getParameterFact("SYS_AUTOSTART")->setValue(_autostartId);
+    _autopilot->getParameterFact("SYS_AUTOCONFIG")->setValue(1);
     
     qgcApp()->setOverrideCursor(Qt::WaitCursor);
     

src/AutoPilotPlugins/PX4/AirframeComponentController.h

@@ -33,14 +33,15 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
 
 /// MVC Controller for AirframeComponent.qml.
-class AirframeComponentController : public QObject
+class AirframeComponentController : public FactPanelController
 {
     Q_OBJECT
     
 public:
-    AirframeComponentController(QObject* parent = NULL);
+    AirframeComponentController(void);
     ~AirframeComponentController();
     
     Q_PROPERTY(QVariantList airframeTypes MEMBER _airframeTypes CONSTANT)
@@ -63,7 +64,6 @@ private:
     static bool _typesRegistered;
     
     UASInterface*       _uas;
-    AutoPilotPlugin*    _autoPilotPlugin;
     QVariantList        _airframeTypes;
     QString             _currentAirframeType;
     QString             _currentVehicleName;

src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Controllers 1.0
 
-Column {
-    Fact { id: sysIdFact;           name: "MAV_SYS_ID" }
-    Fact { id: sysAutoStartFact;    name: "SYS_AUTOSTART" }
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+
+    AirframeComponentController { id: controller; factPanel: panel }
+
+    Fact { id: sysIdFact;           name: "MAV_SYS_ID";     onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: sysAutoStartFact;    name: "SYS_AUTOSTART";  onFactMissing: showMissingFactOverlay(name) }
 
     property bool autoStartSet: sysAutoStartFact.value != 0
 
+    Column {
         anchors.fill: parent
         anchors.margins: 8
 
-    AirframeComponentController { id: controller }
-
         VehicleSummaryRow {
             labelText: "System ID:"
             valueText: sysIdFact.valueString
@@ -32,4 +35,5 @@ Column {
             labelText: "Vehicle:"
             valueText: autoStartSet ? controller.currentVehicleName : "Setup required"
         }
+    }
 }
\ No newline at end of file

src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
-Column {
-    Fact { id: modeSwFact;      name: "RC_MAP_MODE_SW" }
-    Fact { id: posCtlSwFact;    name: "RC_MAP_POSCTL_SW" }
-    Fact { id: loiterSwFact;    name: "RC_MAP_LOITER_SW" }
-    Fact { id: returnSwFact;    name: "RC_MAP_RETURN_SW" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: modeSwFact;      name: "RC_MAP_MODE_SW";     onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: posCtlSwFact;    name: "RC_MAP_POSCTL_SW";   onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: loiterSwFact;    name: "RC_MAP_LOITER_SW";   onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: returnSwFact;    name: "RC_MAP_RETURN_SW";   onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -33,4 +36,5 @@ Column {
             labelText: "Return switch:"
             valueText: returnSwFact.value == 0 ? "Disabled" : returnSwFact.valueString
         }
+    }
 }

src/AutoPilotPlugins/PX4/PowerComponentSummary.qml

@@ -27,17 +27,19 @@
 
 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
-Column {
-    Fact { id: batVChargedFact;     name: "BAT_V_CHARGED" }
-    Fact { id: batVEmptyFact;       name: "BAT_V_EMPTY" }
-    Fact { id: batCellsFact;        name: "BAT_N_CELLS" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: batVChargedFact;     name: "BAT_V_CHARGED";  onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: batVEmptyFact;       name: "BAT_V_EMPTY";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: batCellsFact;        name: "BAT_N_CELLS";    onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -55,4 +57,5 @@ Column {
             labelText: "Number of Cells:"
             valueText: batCellsFact.valueString
         }
+    }
 }
\ No newline at end of file

src/AutoPilotPlugins/PX4/RadioComponentSummary.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
-Column {
-    Fact { id: mapRollFact;     name: "RC_MAP_ROLL" }
-    Fact { id: mapPitchFact;    name: "RC_MAP_PITCH" }
-    Fact { id: mapYawFact;      name: "RC_MAP_YAW" }
-    Fact { id: mapThrottleFact; name: "RC_MAP_THROTTLE" }
-    Fact { id: mapFlapsFact;    name: "RC_MAP_FLAPS" }
-    Fact { id: mapAux1Fact;     name: "RC_MAP_AUX1" }
-    Fact { id: mapAux2Fact;     name: "RC_MAP_AUX2" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: mapRollFact;     name: "RC_MAP_ROLL";        onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapPitchFact;    name: "RC_MAP_PITCH";       onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapYawFact;      name: "RC_MAP_YAW";         onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapThrottleFact; name: "RC_MAP_THROTTLE";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapFlapsFact;    name: "RC_MAP_FLAPS";       onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapAux1Fact;     name: "RC_MAP_AUX1";        onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: mapAux2Fact;     name: "RC_MAP_AUX2";        onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -51,4 +54,5 @@ Column {
             labelText: "Aux2:"
             valueText: mapAux2Fact.value == 0 ? "Disabled" : mapAux2Fact.valueString
         }
+    }
 }

src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
-Column {
-    Fact { id: returnAltFact;   name: "RTL_RETURN_ALT" }
-    Fact { id: descendAltFact;  name: "RTL_DESCEND_ALT" }
-    Fact { id: landDelayFact;   name: "RTL_LAND_DELAY" }
-    Fact { id: commDLLossFact;  name: "COM_DL_LOSS_EN" }
-    Fact { id: commRCLossFact;  name: "COM_RC_LOSS_T" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: returnAltFact;   name: "RTL_RETURN_ALT";     onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: descendAltFact;  name: "RTL_DESCEND_ALT";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: landDelayFact;   name: "RTL_LAND_DELAY";     onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: commDLLossFact;  name: "COM_DL_LOSS_EN";     onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: commRCLossFact;  name: "COM_RC_LOSS_T";      onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -40,4 +42,5 @@ Column {
             labelText: "RC loss RTL (seconds):"
             valueText: commRCLossFact.valueString
         }
+    }
 }

src/AutoPilotPlugins/PX4/SensorsComponentSummary.qml

@@ -3,17 +3,21 @@ import QtQuick.Controls 1.2
 import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
 /*
     IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
 */
 
-Column {
-    Fact { id: mag0IdFact;      name: "CAL_MAG0_ID" }
-    Fact { id: gyro0IdFact;     name: "CAL_GYRO0_ID" }
-    Fact { id: accel0IdFact;    name: "CAL_ACC0_ID" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: mag0IdFact;      name: "CAL_MAG0_ID";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: gyro0IdFact;     name: "CAL_GYRO0_ID";   onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: accel0IdFact;    name: "CAL_ACC0_ID";    onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -31,4 +35,5 @@ Column {
             labelText: "Accelerometer:"
             valueText: accel0IdFact.value  == 0 ? "Setup required" : "Ready"
         }
+    }
 }
\ No newline at end of file

src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml

 import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
 
 import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
 import QGroundControl.Controls 1.0
 
 /*
     IMPORTANT NOTE: Any changes made here must also be made to SensorsComponentSummary.qml
 */
 
-Column {
-    Fact { id: mag0IdFact;      name: "CAL_MAG0_ID" }
-    Fact { id: gyro0IdFact;     name: "CAL_GYRO0_ID" }
-    Fact { id: accel0IdFact;    name: "CAL_ACC0_ID" }
-    Fact { id: dPressOffFact;   name: "SENS_DPRES_OFF" }
+FactPanel {
+    anchors.fill: parent
+
+    Fact { id: mag0IdFact;      name: "CAL_MAG0_ID";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: gyro0IdFact;     name: "CAL_GYRO0_ID";   onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: accel0IdFact;    name: "CAL_ACC0_ID";    onFactMissing: showMissingFactOverlay(name) }
+    Fact { id: dPressOffFact;   name: "SENS_DPRES_OFF"; onFactMissing: showMissingFactOverlay(name) }
 
+    Column {
         anchors.fill:       parent
         anchors.margins:    8
 
@@ -37,4 +40,5 @@ Column {
             labelText: "Airspeed:"
             valueText: dPressOffFact.value  == 0 ? "Setup required" : "Ready"
         }
+    }
 }

src/FactSystem/Fact.h

@@ -35,16 +35,11 @@
 #include <QDebug>
 
 /// @brief A Fact is used to hold a single value within the system.
-///
-/// Along with the value property is a set of meta data which further describes the Fact. This information is
-/// exposed through QObject Properties such that you can bind to it from QML as well as use it within C++ code.
-/// Since the meta data is common to all instances of the same Fact, it is acually stored once in a seperate object.
 class Fact : public QObject
 {
     Q_OBJECT
     
 public:
-    //Fact(int componentId, QString name = "", FactMetaData::ValueType_t type = FactMetaData::valueTypeInt32, QObject* parent = NULL);
     Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
     
     // Property system methods

src/FactSystem/FactBinder.cc

@@ -34,7 +34,8 @@
 FactBinder::FactBinder(void) :
     _autopilotPlugin(NULL),
     _fact(NULL),
-    _componentId(FactSystem::defaultComponentId)
+    _componentId(FactSystem::defaultComponentId),
+    _factMissingSignalConnected(false)
 {
     UASInterface* uas = UASManager::instance()->getActiveUAS();
     Q_ASSERT(uas);
@@ -85,8 +86,12 @@ void FactBinder::setName(const QString& name)
             emit nameChanged();
 			emit metaDataChanged();
 		} else {
-            QString panicMessage("Required parameter (component id: %1, name: %2),  is missing from vehicle. QGroundControl cannot operate with this firmware revision. QGroundControl will now shut down.");
-            qgcApp()->panicShutdown(panicMessage.arg(_componentId).arg(parsedName));
+            qgcApp()->reportMissingFact(name);
+            if (_factMissingSignalConnected) {
+                emit factMissing(name);
+            } else {
+                _missedFactMissingSignals << name;
+            }
         }
     }
 }
@@ -208,3 +213,27 @@ bool FactBinder::valueEqualsDefault(void)
         return false;
     }
 }
+
+void FactBinder::connectNotify(const QMetaMethod & signal)
+{
+    if (signal == QMetaMethod::fromSignal(&FactBinder::factMissing)) {
+        _factMissingSignalConnected = true;
+        if (_missedFactMissingSignals.count()) {
+            QTimer::singleShot(10, this, &FactBinder::_delayedFactMissing);
+        }
+    }
+}
+
+void FactBinder::disconnectNotify(const QMetaMethod & signal)
+{
+    if (signal == QMetaMethod::fromSignal(&FactBinder::factMissing)) {
+        _factMissingSignalConnected = false;
+    }
+}
+
+void FactBinder::_delayedFactMissing(void)
+{
+    foreach (QString name, _missedFactMissingSignals) {
+        emit factMissing(name);
+    }
+}
\ No newline at end of file

src/FactSystem/FactBinder.h

@@ -78,14 +78,24 @@ public:
 	QString                     group(void);
 
 signals:
+    void factMissing(const QString& name);
     void nameChanged(void);
     void valueChanged(void);
 	void metaDataChanged(void);
     
+private slots:
+    void _delayedFactMissing(void);
+    
 private:
+    // Overrides from QObject
+    void connectNotify(const QMetaMethod & signal);
+    void disconnectNotify(const QMetaMethod & signal);
+    
     AutoPilotPlugin*    _autopilotPlugin;
     Fact*               _fact;
     int                 _componentId;
+    bool                _factMissingSignalConnected;
+    QStringList         _missedFactMissingSignals;
 };
 
 #endif
\ No newline at end of file

src/FactSystem/FactControls/FactPanel.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+import QtQuick 2.3
+import QtQuick.Controls 1.3
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+
+Item {
+    property string __missingFacts: ""
+
+    function showMissingFactOverlay(missingFactName) {
+            if (__missingFacts.length != 0) {
+                __missingFacts = __missingFacts.concat(", ")
+            }
+        __missingFacts = __missingFacts.concat(missingFactName)
+        __missingFactOverlay.visible = true
+    }
+
+    Rectangle {
+        QGCPalette { id: __qgcPal; colorGroupEnabled: true }
+
+        id:             __missingFactOverlay
+        anchors.fill:   parent
+        z:              9999
+        visible:        false
+        color:          __qgcPal.window
+        opacity:        0.85
+
+        QGCLabel {
+            anchors.fill:   parent
+            wrapMode:       Text.WordWrap
+            text:           "Fact(s) missing: " + __missingFacts
+        }
+    }
+}

src/FactSystem/FactControls/FactPanelController.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 "FactPanelController.h"
+#include "UASManager.h"
+#include "AutoPilotPluginManager.h"
+#include "QGCMessageBox.h"
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+FactPanelController::FactPanelController(void) :
+	_autopilot(NULL),
+    _factPanel(NULL)
+{
+    UASInterface* uas = UASManager::instance()->getActiveUAS();
+    Q_ASSERT(uas);
+    
+    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas);
+    Q_ASSERT(_autopilot);
+    Q_ASSERT(_autopilot->pluginReady());
+    
+    // Do a delayed check for the _factPanel finally being set correctly from Qml
+    QTimer::singleShot(1000, this, &FactPanelController::_checkForMissingFactPanel);
+}
+
+QQuickItem* FactPanelController::factPanel(void)
+{
+    return _factPanel;
+}
+
+void FactPanelController::setFactPanel(QQuickItem* panel)
+{
+    // Once we finally have the _factPanel member set send any
+    // missing fact notices that were waiting to go out
+    
+    _factPanel = panel;
+    foreach (QString missingFact, _delayedMissingFacts) {
+        _notifyPanelMissingFact(missingFact);
+    }
+    _delayedMissingFacts.clear();
+}
+
+void FactPanelController::_notifyPanelMissingFact(const QString& missingFact)
+{
+    QVariant returnedValue;
+
+    QMetaObject::invokeMethod(_factPanel,
+                              "showMissingFactOverlay",
+                              Q_RETURN_ARG(QVariant, returnedValue),
+                              Q_ARG(QVariant, missingFact));
+}
+
+void FactPanelController::_reportMissingFact(const QString& missingFact)
+{
+    qgcApp()->reportMissingFact(missingFact);
+    
+    // If missing facts a reported from the constructor of a derived class we
+    // will not have access to _factPanel yet. Just record list of missing facts
+    // in that case instead of notify. Once _factPanel is available they will be
+    // send out for real.
+    if (_factPanel) {
+        _notifyPanelMissingFact(missingFact);
+    } else {
+        _delayedMissingFacts += missingFact;
+    }
+}
+
+bool FactPanelController::_allFactsExists(QStringList factList)
+{
+    bool noMissingFacts = true;
+    
+    foreach (QString fact, factList) {
+        if (!_autopilot->parameterExists(fact)) {
+            _reportMissingFact(fact);
+            noMissingFacts = false;
+        }
+    }
+    
+    return noMissingFacts;
+}
+
+void FactPanelController::_checkForMissingFactPanel(void)
+{
+    if (!_factPanel) {
+        QGCMessageBox::critical("Incorrect FactPanel Qml implementation", "FactPanelController used without passing in factPanel. This could lead to non-functioning user interface being displayed.");
+    }
+}
\ No newline at end of file

src/FactSystem/FactControls/FactPanelController.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 FactPanelController_H
+#define FactPanelController_H
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include <QObject>
+#include <QQuickItem>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+#include "UASManagerInterface.h"
+
+/// FactPanelController is used in combination with the FactPanel Qml control for handling
+/// missing Facts from C++ code.
+class FactPanelController : public QObject
+{
+	Q_OBJECT
+	
+public:
+	FactPanelController(void);
+	
+    Q_PROPERTY(QQuickItem* factPanel READ factPanel WRITE setFactPanel)
+    
+    QQuickItem* factPanel(void);
+    void setFactPanel(QQuickItem* panel);
+    
+protected:
+    /// Checks for existence of the specified facts
+    /// @return true: all facts exists, false: facts missing and reported
+    bool _allFactsExists(QStringList factList);
+    
+    /// Report a missing fact to the FactPanel Qml element
+    void _reportMissingFact(const QString& missingFact);
+    
+	AutoPilotPlugin*    _autopilot;
+    
+private slots:
+    void _checkForMissingFactPanel(void);
+    
+private:
+    void _notifyPanelMissingFact(const QString& missingFact);
+
+    QQuickItem*         _factPanel;
+    QStringList         _delayedMissingFacts;
+};
+
+#endif
\ No newline at end of file

src/FactSystem/FactControls/qmldir

 Module QGroundControl.FactControls
 
+FactPanel 1.0 FactPanel.qml
 FactLabel 1.0 FactLabel.qml
 FactTextField 1.0 FactTextField.qml
 FactCheckBox 1.0 FactCheckBox.qml

src/FactSystem/FactSystem.cc

@@ -29,6 +29,7 @@
 #include "QGCApplication.h"
 #include "VehicleComponent.h"
 #include "FactBinder.h"
+#include "FactPanelController.h"
 
 #include <QtQml>
 
@@ -40,6 +41,7 @@ FactSystem::FactSystem(QObject* parent) :
     QGCSingleton(parent)
 {
     qmlRegisterType<FactBinder>(_factSystemQmlUri, 1, 0, "Fact");
+    qmlRegisterType<FactPanelController>(_factSystemQmlUri, 1, 0, "FactPanelController");
     qmlRegisterUncreatableType<VehicleComponent>(_factSystemQmlUri, 1, 0, "VehicleComponent", "Can only reference, cannot create");
 }
 

src/FactSystem/ParameterLoader.cc

@@ -386,8 +386,7 @@ Fact* ParameterLoader::getFact(int componentId, const QString& name)
     componentId = _actualComponentId(componentId);
     
     if (!_mapParameterName2Variant.contains(componentId) || !_mapParameterName2Variant[componentId].contains(name)) {
-        QString panicMessage("Required parameter (component id: %1, name: %2),  is missing from vehicle. QGroundControl cannot operate with this firmware revision. QGroundControl will now shut down.");
-        qgcApp()->panicShutdown(panicMessage.arg(componentId).arg(name));
+        return NULL;
     }
     
     Fact* fact = _mapParameterName2Variant[componentId][name].value<Fact*>();

src/QGCApplication.cc

@@ -166,6 +166,10 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) :
 #endif
 #endif
 
+    // Set up timer for delayed missing fact display
+    _missingFactDelayedDisplayTimer.setSingleShot(true);
+    _missingFactDelayedDisplayTimer.setInterval(_missingFactDelayedDisplayTimerTimeout);
+    connect(&_missingFactDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingFactsDisplay);
     
     // Set application information
     if (_runningUnitTests) {
@@ -660,8 +664,28 @@ void QGCApplication::_reconnect(void)
     _reconnectLinkConfig = NULL;
 }
 
-void QGCApplication::panicShutdown(const QString& panicMessage)
+void QGCApplication::reportMissingFact(const QString& name)
 {
-    QGCMessageBox::critical("Panic Shutdown", panicMessage);
-    ::exit(0);
+    _missingFacts += name;
+    _missingFactDelayedDisplayTimer.start();
+}
+
+/// Called when the delay timer fires to show the missing facts warning
+void QGCApplication::_missingFactsDisplay(void)
+{
+    Q_ASSERT(_missingFacts.count());
+    
+    QString facts;
+    foreach (QString fact, _missingFacts) {
+        if (facts.isEmpty()) {
+            facts += fact;
+        } else {
+            facts += QString(", %1").arg(fact);
+        }
+    }
+    _missingFacts.clear();
+    
+    QGCMessageBox::critical("Missing Parameters",
+                            QString("Parameters missing from firmware: %1.\n\n"
+                                    "You should quit QGroundControl immediately and update your firmware.").arg(facts));
 }
\ No newline at end of file

src/QGCApplication.h

@@ -33,6 +33,7 @@
 #define QGCAPPLICATION_H
 
 #include <QApplication>
+#include <QTimer>
 
 #include "LinkConfiguration.h"
 
@@ -98,9 +99,9 @@ public:
     /// Disconnects the current link and waits for the specified number of seconds before reconnecting.
     void reconnectAfterWait(int waitSeconds);
     
-    /// Used to shutdown the app if a fatal condition occurs from which it cannot recover
-    ///     @param panicMessage Message to display to user
-    void panicShutdown(const QString& panicMessage);
+    /// Used to report a missing Fact. Warning will be displayed to user. Method may be called
+    /// multiple times.
+    void reportMissingFact(const QString& name);
     
 public slots:
     /// You can connect to this slot to show an information message box from a different thread.
@@ -143,6 +144,7 @@ public:
     
 private slots:
     void _reconnect(void);
+    void _missingFactsDisplay(void);
     
 private:
     void _createSingletons(void);
@@ -165,7 +167,11 @@ private:
     static const char*  _lightStyleFile;
     bool                _styleIsDark;      ///< true: dark style, false: light style
     
-    LinkConfiguration* _reconnectLinkConfig;    ///< Configuration to reconnect for reconnectAfterWai
+    LinkConfiguration* _reconnectLinkConfig;    ///< Configuration to reconnect for reconnectAfterWait
+    
+    static const int    _missingFactDelayedDisplayTimerTimeout = 1000;  ///< Timeout to wait for next missing fact to come in before display
+    QTimer              _missingFactDelayedDisplayTimer;                ///< Timer use to delay missing fact display
+    QStringList         _missingFacts;                                  ///< List of missing facts to be displayed
     
     /// Unit Test have access to creating and destroying singletons
     friend class UnitTest;