Support command editor overrides

- override by vehicle type
- override by firmware type

qgroundcontrol.pro

@@ -251,6 +251,7 @@ HEADERS += \
     src/Joystick/JoystickManager.h \
     src/LogCompressor.h \
     src/MG.h \
+    src/MissionManager/MissionCommandList.h \
     src/MissionManager/MissionCommands.h \
     src/MissionManager/MissionController.h \
     src/MissionManager/MissionItem.h \
@@ -374,6 +375,7 @@ SOURCES += \
     src/Joystick/JoystickManager.cc \
     src/LogCompressor.cc \
     src/main.cc \
+    src/MissionManager/MissionCommandList.cc \
     src/MissionManager/MissionCommands.cc \
     src/MissionManager/MissionController.cc \
     src/MissionManager/MissionItem.cc \

qgroundcontrol.qrc

@@ -141,6 +141,12 @@
         <file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
     </qresource>
     <qresource prefix="/json">
-        <file alias="MavCmdInfo.json">src/MissionManager/MavCmdInfo.json</file>
+        <file alias="MavCmdInfoCommon.json">src/MissionManager/MavCmdInfoCommon.json</file>
+        <file alias="APM/MavCmdInfoCommon.json">src/FirmwarePlugin/APM/MavCmdInfoCommon.json</file>
+        <file alias="APM/MavCmdInfoFixedWing.json">src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json</file>
+        <file alias="APM/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json</file>
+        <file alias="PX4/MavCmdInfoCommon.json">src/FirmwarePlugin/PX4/MavCmdInfoCommon.json</file>
+        <file alias="PX4/MavCmdInfoFixedWing.json">src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json</file>
+        <file alias="PX4/MavCmdInfoMultiRotor.json">src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json</file>
     </qresource>
 </RCC>

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -495,3 +495,10 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_CONDITION_DELAY  << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW;
     return list;
 }
+
+void APMFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
+{
+    commonJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoCommon.json");
+    fixedWingJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
+    multiRotorJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -92,6 +92,7 @@ public:
     virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
+    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
 
 protected:
     /// All access to singleton is through stack specific implementation

src/FirmwarePlugin/APM/MavCmdInfoCommon.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+    ]
+}

src/FirmwarePlugin/APM/MavCmdInfoFixedWing.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+        {
+            "id":                   22,
+            "rawName":              "MAV_CMD_NAV_TAKEOFF",
+            "friendlyName":         "Takeoff",
+            "description":          "Take off from the ground.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Pitch:",
+                "units":            "radians",
+                "default":          0.26179939,
+                "decimalPlaces":    2
+            }
+        }
+    ]
+}

src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+        {
+            "id":                   22,
+            "rawName":              "MAV_CMD_NAV_TAKEOFF",
+            "friendlyName":         "Takeoff",
+            "description":          "Take off from the ground.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic"
+        },
+        {
+            "id":                   17,
+            "rawName":              "MAV_CMD_NAV_LOITER_UNLIM",
+            "friendlyName":         "Loiter",
+            "description":          "Travel to a position and Loiter indefinitely.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic"
+        },
+        {
+            "id":                   18,
+            "rawName":              "MAV_CMD_NAV_LOITER_TURNS",
+            "friendlyName":         "Loiter (turns)",
+            "description":          "Travel to a position and Circle with the specified radius for a number of turns.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Turns:",
+                "default":          1,
+                "decimalPlaces":    0
+            },
+            "param3": {
+                "label":            "Radius:",
+                "units":            "meters",
+                "default":          10.0,
+                "decimalPlaces":    2
+            }
+        },
+        {
+            "id":                   19,
+            "rawName":              "MAV_CMD_NAV_LOITER_TIME",
+            "friendlyName":         "Loiter (time)",
+            "description":          "Travel to a position and Loiter for an amount of time.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Hold:",
+                "units":            "seconds",
+                "default":          30,
+                "decimalPlaces":    0
+            }
+        }
+    ]
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -113,6 +113,12 @@ public:
 
     /// List of supported mission commands. Empty list for all commands supported.
     virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;
+
+    /// Returns the names for the mission command json override files. Empty string to specify no overrides.
+    ///     @param[out] commonJsonFilename Filename for common overrides
+    ///     @param[out] fixedWingJsonFilename Filename for fixed wing overrides
+    ///     @param[out] multiRotorJsonFilename Filename for multi rotor overrides
+    virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const = 0;
 };
 
 #endif

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -127,3 +127,11 @@ QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
     // Generic supports all commands
     return QList<MAV_CMD>();
 }
+
+void GenericFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
+{
+    // No overrides
+    commonJsonFilename.clear();
+    fixedWingJsonFilename.clear();
+    multiRotorJsonFilename.clear();
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -35,19 +35,19 @@ class GenericFirmwarePlugin : public FirmwarePlugin
     
 public:
     // Overrides from FirmwarePlugin
-    
-    virtual bool isCapable(FirmwareCapabilities capabilities) { Q_UNUSED(capabilities); return false; }
-    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
-    virtual QStringList flightModes(void) { return QStringList(); }
-    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
-    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
-    virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
-    virtual void initializeVehicle(Vehicle* vehicle);
-    virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
-    virtual QString getDefaultComponentIdParam(void) const { return QString(); }
-    virtual QList<MAV_CMD> supportedMissionCommands(void);
+    bool isCapable(FirmwareCapabilities capabilities) final { Q_UNUSED(capabilities); return false; }
+    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
+    QStringList flightModes(void) final { return QStringList(); }
+    QString flightMode(uint8_t base_mode, uint32_t custom_mode) final;
+    bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
+    int manualControlReservedButtonCount(void) final;
+    void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
+    void initializeVehicle(Vehicle* vehicle) final;
+    bool sendHomePositionToVehicle(void) final;
+    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final;
+    QString getDefaultComponentIdParam(void) const final { return QString(); }
+    QList<MAV_CMD> supportedMissionCommands(void) final;
+    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
 };
 
 #endif

src/FirmwarePlugin/PX4/MavCmdInfoCommon.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+    ]
+}

src/FirmwarePlugin/PX4/MavCmdInfoFixedWing.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+    ]
+}

src/FirmwarePlugin/PX4/MavCmdInfoMultiRotor.json

+{
+    "version": 1,
+
+    "mavCmdInfo": [
+        {
+            "id":                   17,
+            "rawName":              "MAV_CMD_NAV_LOITER_UNLIM",
+            "friendlyName":         "Loiter",
+            "description":          "Travel to a position and Loiter indefinitely.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic"
+        },
+        {
+            "id":                   18,
+            "rawName":              "MAV_CMD_NAV_LOITER_TURNS",
+            "friendlyName":         "Loiter (turns)",
+            "description":          "Travel to a position and Loiter for a number of turns.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Turns:",
+                "default":          1,
+                "decimalPlaces":    0
+            }
+        },
+        {
+            "id":                   19,
+            "rawName":              "MAV_CMD_NAV_LOITER_TIME",
+            "friendlyName":         "Loiter (time)",
+            "description":          "Travel to a position and Loiter for an amount of time.",
+            "specifiesCoordinate":  true,
+            "friendlyEdit":         true,
+            "category":             "Basic",
+            "param1": {
+                "label":            "Hold:",
+                "units":            "seconds",
+                "default":          30,
+                "decimalPlaces":    0
+            }
+        }
+    ]
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -225,3 +225,11 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_DO_CHANGE_SPEED;
     return list;
 }
+
+void PX4FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
+{
+    // No overrides
+    commonJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoCommon.json");
+    fixedWingJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json");
+    multiRotorJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json");
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -36,18 +36,19 @@ class PX4FirmwarePlugin : public FirmwarePlugin
 
 public:
     // Overrides from FirmwarePlugin
-    virtual bool isCapable(FirmwareCapabilities capabilities);
-    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
-    virtual QStringList flightModes(void);
-    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
-    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
-    virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
-    virtual void initializeVehicle(Vehicle* vehicle);
-    virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
-    virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
-    virtual QList<MAV_CMD> supportedMissionCommands(void);
+    bool isCapable(FirmwareCapabilities capabilities) final;
+    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
+    QStringList flightModes(void) final;
+    QString flightMode(uint8_t base_mode, uint32_t custom_mode) final;
+    bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
+    int manualControlReservedButtonCount(void) final;
+    void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
+    void initializeVehicle(Vehicle* vehicle) final;
+    bool sendHomePositionToVehicle(void) final;
+    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final;
+    QString getDefaultComponentIdParam(void) const final { return QString("SYS_AUTOSTART"); }
+    QList<MAV_CMD> supportedMissionCommands(void) final;
+    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
 
 private:
     PX4ParameterMetaData    _parameterMetaData;

src/MissionManager/MissionCommandList.cc

+/*===================================================================
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#include "MissionCommandList.h"
+#include "FactMetaData.h"
+#include "Vehicle.h"
+#include "FirmwarePluginManager.h"
+#include "QGCApplication.h"
+#include "QGroundControlQmlGlobal.h"
+
+#include <QStringList>
+#include <QJsonDocument>
+#include <QJsonParseError>
+#include <QJsonArray>
+#include <QDebug>
+#include <QFile>
+
+const QString MissionCommandList::_categoryJsonKey             (QStringLiteral("category"));
+const QString MissionCommandList::_decimalPlacesJsonKey        (QStringLiteral("decimalPlaces"));
+const QString MissionCommandList::_defaultJsonKey              (QStringLiteral("default"));
+const QString MissionCommandList::_descriptionJsonKey          (QStringLiteral("description"));
+const QString MissionCommandList::_enumStringsJsonKey          (QStringLiteral("enumStrings"));
+const QString MissionCommandList::_enumValuesJsonKey           (QStringLiteral("enumValues"));
+const QString MissionCommandList::_friendlyEditJsonKey         (QStringLiteral("friendlyEdit"));
+const QString MissionCommandList::_friendlyNameJsonKey         (QStringLiteral("friendlyName"));
+const QString MissionCommandList::_idJsonKey                   (QStringLiteral("id"));
+const QString MissionCommandList::_labelJsonKey                (QStringLiteral("label"));
+const QString MissionCommandList::_mavCmdInfoJsonKey           (QStringLiteral("mavCmdInfo"));
+const QString MissionCommandList::_param1JsonKey               (QStringLiteral("param1"));
+const QString MissionCommandList::_param2JsonKey               (QStringLiteral("param2"));
+const QString MissionCommandList::_param3JsonKey               (QStringLiteral("param3"));
+const QString MissionCommandList::_param4JsonKey               (QStringLiteral("param4"));
+const QString MissionCommandList::_paramJsonKeyFormat          (QStringLiteral("param%1"));
+const QString MissionCommandList::_rawNameJsonKey              (QStringLiteral("rawName"));
+const QString MissionCommandList::_standaloneCoordinateJsonKey (QStringLiteral("standaloneCoordinate"));
+const QString MissionCommandList::_specifiesCoordinateJsonKey  (QStringLiteral("specifiesCoordinate"));
+const QString MissionCommandList::_unitsJsonKey                (QStringLiteral("units"));
+const QString MissionCommandList::_versionJsonKey              (QStringLiteral("version"));
+
+MissionCommandList::MissionCommandList(const QString& jsonFilename, QObject* parent)
+    : QObject(parent)
+{
+    _loadMavCmdInfoJson(jsonFilename);
+}
+
+bool MissionCommandList::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
+{
+    for (int i=0; i<keys.count(); i++) {
+        if (jsonObject.contains(keys[i])) {
+            if (jsonObject.value(keys[i]).type() != types[i]) {
+                qWarning() << "Incorrect type key:type:expected" << keys[i] << jsonObject.value(keys[i]).type() << types[i];
+                return false;
+            }
+        }
+    }
+
+    return true;
+}
+
+void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename)
+{
+    if (jsonFilename.isEmpty()) {
+        return;
+    }
+
+    qCDebug(MissionCommandsLog) << "Loading" << jsonFilename;
+
+    QFile jsonFile(jsonFilename);
+    if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString();
+        return;
+    }
+
+    QByteArray bytes = jsonFile.readAll();
+    jsonFile.close();
+    QJsonParseError jsonParseError;
+    QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
+    if (jsonParseError.error != QJsonParseError::NoError) {
+        qWarning() <<  "Unable to open json document" << jsonParseError.errorString();
+        return;
+    }
+
+    QJsonObject json = doc.object();
+
+    int version = json.value(_versionJsonKey).toInt();
+    if (version != 1) {
+        qWarning() << "Invalid version" << version;
+        return;
+    }
+
+    QJsonValue jsonValue = json.value(_mavCmdInfoJsonKey);
+    if (!jsonValue.isArray()) {
+        qWarning() << "mavCmdInfo not array";
+        return;
+    }
+
+    QJsonArray jsonArray = jsonValue.toArray();
+    foreach(QJsonValue info, jsonArray) {
+        if (!info.isObject()) {
+            qWarning() << "mavCmdArray should contain objects";
+            return;
+        }
+        QJsonObject jsonObject = info.toObject();
+
+        // Make sure we have the required keys
+        QStringList requiredKeys;
+        requiredKeys << _idJsonKey << _rawNameJsonKey;
+        foreach (const QString &key, requiredKeys) {
+            if (!jsonObject.contains(key)) {
+                qWarning() << "Mission required key" << key;
+                return;
+            }
+        }
+
+        // Validate key types
+
+        QStringList             keys;
+        QList<QJsonValue::Type> types;
+        keys << _idJsonKey << _rawNameJsonKey << _friendlyNameJsonKey << _descriptionJsonKey << _standaloneCoordinateJsonKey << _specifiesCoordinateJsonKey <<_friendlyEditJsonKey
+             << _param1JsonKey << _param2JsonKey << _param3JsonKey << _param4JsonKey << _categoryJsonKey;
+        types << QJsonValue::Double << QJsonValue::String << QJsonValue::String<< QJsonValue::String << QJsonValue::Bool << QJsonValue::Bool << QJsonValue::Bool
+              << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::Object << QJsonValue::String;
+        if (!_validateKeyTypes(jsonObject, keys, types)) {
+            return;
+        }
+
+        MavCmdInfo* mavCmdInfo = new MavCmdInfo(this);
+
+        mavCmdInfo->_command = (MAV_CMD)      jsonObject.value(_idJsonKey).toInt();
+        mavCmdInfo->_category =               jsonObject.value(_categoryJsonKey).toString("Advanced");
+        mavCmdInfo->_rawName =                jsonObject.value(_rawNameJsonKey).toString();
+        mavCmdInfo->_friendlyName =           jsonObject.value(_friendlyNameJsonKey).toString(QString());
+        mavCmdInfo->_description =            jsonObject.value(_descriptionJsonKey).toString(QString());
+        mavCmdInfo->_standaloneCoordinate =   jsonObject.value(_standaloneCoordinateJsonKey).toBool(false);
+        mavCmdInfo->_specifiesCoordinate =    jsonObject.value(_specifiesCoordinateJsonKey).toBool(false);
+        mavCmdInfo->_friendlyEdit =           jsonObject.value(_friendlyEditJsonKey).toBool(false);
+
+        qCDebug(MissionCommandsLog) << "Command"
+                                    << mavCmdInfo->_command
+                                    << mavCmdInfo->_category
+                                    << mavCmdInfo->_rawName
+                                    << mavCmdInfo->_friendlyName
+                                    << mavCmdInfo->_description
+                                    << mavCmdInfo->_standaloneCoordinate
+                                    << mavCmdInfo->_specifiesCoordinate
+                                    << mavCmdInfo->_friendlyEdit;
+
+        if (_mavCmdInfoMap.contains((MAV_CMD)mavCmdInfo->command())) {
+            qWarning() << "Duplicate command" << mavCmdInfo->command();
+            return;
+        }
+
+        _mavCmdInfoMap[mavCmdInfo->_command] = mavCmdInfo;
+
+        // Read params
+
+        for (int i=1; i<=7; i++) {
+            QString paramKey = QString(_paramJsonKeyFormat).arg(i);
+
+            if (jsonObject.contains(paramKey)) {
+                QJsonObject paramObject = jsonObject.value(paramKey).toObject();
+
+                // Validate key types
+                QStringList             keys;
+                QList<QJsonValue::Type> types;
+                keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey;
+                types << QJsonValue::Double <<  QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String;
+                if (!_validateKeyTypes(paramObject, keys, types)) {
+                    return;
+                }
+
+                mavCmdInfo->_friendlyEdit = true; // Assume friendly edit if we have params
+
+                if (!paramObject.contains(_labelJsonKey)) {
+                    qWarning() << "param object missing label key" << mavCmdInfo->rawName() << paramKey;
+                    return;
+                }
+
+                MavCmdParamInfo* paramInfo = new MavCmdParamInfo(this);
+
+                paramInfo->_label =         paramObject.value(_labelJsonKey).toString();
+                paramInfo->_defaultValue =  paramObject.value(_defaultJsonKey).toDouble(0.0);
+                paramInfo->_decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces);
+                paramInfo->_enumStrings =   paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
+                paramInfo->_param =         i;
+                paramInfo->_units =         paramObject.value(_unitsJsonKey).toString();
+
+                QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+                foreach (const QString &enumValue, enumValues) {
+                    bool    convertOk;
+                    double  value = enumValue.toDouble(&convertOk);
+
+                    if (!convertOk) {
+                        qWarning() << "Bad enumValue" << enumValue;
+                        return;
+                    }
+
+                    paramInfo->_enumValues << QVariant(value);
+                }
+                if (paramInfo->_enumValues.count() != paramInfo->_enumStrings.count()) {
+                    qWarning() << "enum strings/values count mismatch" << paramInfo->_enumStrings.count() << paramInfo->_enumValues.count();
+                    return;
+                }
+
+                qCDebug(MissionCommandsLog) << "Param"
+                                            << paramInfo->_label
+                                            << paramInfo->_defaultValue
+                                            << paramInfo->_decimalPlaces
+                                            << paramInfo->_param
+                                            << paramInfo->_units
+                                            << paramInfo->_enumStrings
+                                            << paramInfo->_enumValues;
+
+                mavCmdInfo->_paramInfoMap[i] = paramInfo;
+            }
+        }
+
+        if (mavCmdInfo->friendlyEdit()) {
+            if (mavCmdInfo->description().isEmpty()) {
+                qWarning() << "Missing description" << mavCmdInfo->rawName();
+                return;
+            }
+            if (mavCmdInfo->rawName() ==  mavCmdInfo->friendlyName()) {
+                qWarning() << "Missing friendly name" << mavCmdInfo->rawName() << mavCmdInfo->friendlyName();
+                return;
+            }
+        }
+    }
+}
+
+bool MissionCommandList::contains(MAV_CMD command) const
+{
+    return _mavCmdInfoMap.contains(command);
+}
+
+MavCmdInfo* MissionCommandList::getMavCmdInfo(MAV_CMD command) const
+{
+    if (!contains(command)) {
+        qWarning() << "Unknown command" << command;
+        return NULL;
+    }
+
+    return _mavCmdInfoMap[command];
+}
+
+QList<MAV_CMD> MissionCommandList::commandsIds(void) const
+{
+    QList<MAV_CMD> list;
+
+    foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
+        list << (MAV_CMD)mavCmdInfo->command();
+    }
+
+    return list;
+}

src/MissionManager/MissionCommandList.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 MissionCommandList_H
+#define MissionCommandList_H
+
+#include "QGCToolbox.h"
+#include "QGCMAVLink.h"
+#include "QGCLoggingCategory.h"
+#include "QmlObjectListModel.h"
+#include "MavlinkQmlSingleton.h"
+
+#include <QObject>
+#include <QString>
+#include <QJsonObject>
+#include <QJsonValue>
+
+class MissionCommandList;
+class Vehicle;
+
+/// The information associated with a mission command parameter.
+class MavCmdParamInfo : public QObject {
+
+    Q_OBJECT
+
+public:
+    MavCmdParamInfo(QObject* parent = NULL)
+        : QObject(parent)
+    {
+
+    }
+
+    Q_PROPERTY(int          decimalPlaces   READ decimalPlaces  CONSTANT)
+    Q_PROPERTY(double       defaultValue    READ defaultValue   CONSTANT)
+    Q_PROPERTY(QStringList  enumStrings     READ enumStrings    CONSTANT)
+    Q_PROPERTY(QVariantList enumValues      READ enumValues     CONSTANT)
+    Q_PROPERTY(QString      label           READ label          CONSTANT)
+    Q_PROPERTY(int          param           READ param          CONSTANT)
+    Q_PROPERTY(QString      units           READ units          CONSTANT)
+
+    int             decimalPlaces   (void) const { return _decimalPlaces; }
+    double          defaultValue    (void) const { return _defaultValue; }
+    QStringList     enumStrings     (void) const { return _enumStrings; }
+    QVariantList    enumValues      (void) const { return _enumValues; }
+    QString         label           (void) const { return _label; }
+    int             param           (void) const { return _param; }
+    QString         units           (void) const { return _units; }
+
+private:
+    int             _decimalPlaces;
+    double          _defaultValue;
+    QStringList     _enumStrings;
+    QVariantList    _enumValues;
+    QString         _label;
+    int             _param;
+    QString         _units;
+
+    friend class MissionCommandList;
+};
+
+// The information associated with a mission command.
+class MavCmdInfo : public QObject {
+    Q_OBJECT
+
+public:
+    MavCmdInfo(QObject* parent = NULL)
+        : QObject(parent)
+    {
+
+    }
+
+    Q_PROPERTY(QString  category                READ category               CONSTANT)
+    Q_PROPERTY(MavlinkQmlSingleton::Qml_MAV_CMD command READ qmlCommand     CONSTANT)
+    Q_PROPERTY(QString  description             READ description            CONSTANT)
+    Q_PROPERTY(bool     friendlyEdit            READ friendlyEdit           CONSTANT)
+    Q_PROPERTY(QString  friendlyName            READ friendlyName           CONSTANT)
+    Q_PROPERTY(QString  rawName                 READ rawName                CONSTANT)
+    Q_PROPERTY(bool     standaloneCoordinate    READ standaloneCoordinate   CONSTANT)
+    Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)