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.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)
+
+    MavlinkQmlSingleton::Qml_MAV_CMD qmlCommand(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
+    MAV_CMD command(void) const { return _command; }
+
+    QString category            (void) const { return _category; }
+    QString description         (void) const { return _description; }
+    bool    friendlyEdit        (void) const { return _friendlyEdit; }
+    QString friendlyName        (void) const { return _friendlyName; }
+    QString rawName             (void) const { return _rawName; }
+    bool    standaloneCoordinate(void) const { return _standaloneCoordinate; }
+    bool    specifiesCoordinate (void) const { return _specifiesCoordinate; }
+
+    const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
+
+private:
+    QString                     _category;
+    MAV_CMD                     _command;
+    QString                     _description;
+    bool                        _friendlyEdit;
+    QString                     _friendlyName;
+    QMap<int, MavCmdParamInfo*> _paramInfoMap;
+    QString                     _rawName;
+    bool                        _standaloneCoordinate;
+    bool                        _specifiesCoordinate;
+
+    friend class MissionCommandList;
+};
+
+// A list of mission command info loaded from a json file.
+class MissionCommandList : public QObject
+{
+    Q_OBJECT
+    
+public:
+    MissionCommandList(const QString& jsonFilename, QObject* parent = NULL);
+
+    Q_INVOKABLE bool contains(MavlinkQmlSingleton::Qml_MAV_CMD command) const { return contains((MAV_CMD)command); }
+    bool contains(MAV_CMD command) const;
+
+    Q_INVOKABLE QVariant getMavCmdInfo(MavlinkQmlSingleton::Qml_MAV_CMD command) const { return QVariant::fromValue(getMavCmdInfo((MAV_CMD)command)); }
+    MavCmdInfo* getMavCmdInfo(MAV_CMD command) const;
+
+    QList<MAV_CMD> commandsIds(void) const;
+    
+private:
+    void _loadMavCmdInfoJson(const QString& jsonFilename);
+    bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types);
+
+private:
+    QMap<MAV_CMD, MavCmdInfo*> _mavCmdInfoMap;
+
+    static const QString _categoryJsonKey;
+    static const QString _decimalPlacesJsonKey;
+    static const QString _defaultJsonKey;
+    static const QString _descriptionJsonKey;
+    static const QString _enumStringsJsonKey;
+    static const QString _enumValuesJsonKey;
+    static const QString _friendlyNameJsonKey;
+    static const QString _friendlyEditJsonKey;
+    static const QString _idJsonKey;
+    static const QString _labelJsonKey;
+    static const QString _mavCmdInfoJsonKey;
+    static const QString _param1JsonKey;
+    static const QString _param2JsonKey;
+    static const QString _param3JsonKey;
+    static const QString _param4JsonKey;
+    static const QString _paramJsonKeyFormat;
+    static const QString _rawNameJsonKey;
+    static const QString _standaloneCoordinateJsonKey;
+    static const QString _specifiesCoordinateJsonKey;
+    static const QString _unitsJsonKey;
+    static const QString _versionJsonKey;
+};
+
+#endif

src/MissionManager/MissionCommands.h

@@ -25,104 +25,17 @@
 #define MissionCommands_H
 
 #include "QGCToolbox.h"
-#include "QGCMAVLink.h"
-#include "QGCLoggingCategory.h"
-#include "QmlObjectListModel.h"
-#include "MavlinkQmlSingleton.h"
-
-#include <QObject>
-#include <QString>
-#include <QJsonObject>
-#include <QJsonValue>
-
-Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
-
-class MissionCommands;
-class Vehicle;
-
-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 MissionCommands;
-};
-
-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 command        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)
-
-    QString category            (void) const { return _category; }
-    MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_command; }
-    QString description         (void) const { return _description; }
-    bool    friendlyEdit        (void) const { return _friendlyEdit; }
-    QString friendlyName        (void) const { return _friendlyName; }
-    QString rawName             (void) const { return _rawName; }
-    bool    standaloneCoordinate(void) const { return _standaloneCoordinate; }
-    bool    specifiesCoordinate (void) const { return _specifiesCoordinate; }
-
-    const QMap<int, MavCmdParamInfo*>& paramInfoMap(void) const { return _paramInfoMap; }
-
-private:
-    QString                     _category;
-    MAV_CMD                     _command;
-    QString                     _description;
-    bool                        _friendlyEdit;
-    QString                     _friendlyName;
-    QMap<int, MavCmdParamInfo*> _paramInfoMap;
-    QString                     _rawName;
-    bool                        _standaloneCoordinate;
-    bool                        _specifiesCoordinate;
-
-    friend class MissionCommands;
-};
-
+#include "MissionCommandList.h"
+
+/// Provides access to mission command information used for creating mission command ui editors. There is a base common set
+/// of definitions. Individual commands can then be overriden depending on Vehicle information:
+///     Common command definitions
+///         MAV_AUTOPILOT common overrides
+///         Fixed Wing
+///             MAV_AUTOPILOT specific Fixed Wing overrides
+///         Multi-Rotor
+///             MAV_AUTOPILOT specific Multi Rotor overrides
+/// The leaf nodes of the hierarchy take precedence over higher level branches
 class MissionCommands : public QGCTool
 {
     Q_OBJECT
@@ -134,45 +47,29 @@ public:
     Q_INVOKABLE QString                     categoryFromCommand     (MavlinkQmlSingleton::Qml_MAV_CMD command) const;
     Q_INVOKABLE QVariant                    getCommandsForCategory  (Vehicle* vehicle, const QString& category) const;
 
-    const QMap<MAV_CMD, MavCmdInfo*>& commandInfoMap(void) const { return _mavCmdInfoMap; };
+    Q_INVOKABLE bool contains(MavlinkQmlSingleton::Qml_MAV_CMD command) const { return contains((MAV_CMD)command); }
+    bool contains(MAV_CMD command) const;
+
+    Q_INVOKABLE QVariant getMavCmdInfo(MavlinkQmlSingleton::Qml_MAV_CMD command, Vehicle* vehicle) const { return QVariant::fromValue(getMavCmdInfo((MAV_CMD)command, vehicle)); }
+    MavCmdInfo* getMavCmdInfo(MAV_CMD command, Vehicle* vehicle) const;
+
+    QList<MAV_CMD> commandsIds(void) const;
 
     // Overrides from QGCTool
     virtual void setToolbox(QGCToolbox* toolbox);
 
-signals:
-    
 private:
-    void _loadMavCmdInfoJson(void);
-    void _createFirmwareSpecificLists(void);
-    void _setupMetaData(void);
-    bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types);
+    void _createCategories(void);
     MAV_AUTOPILOT _firmwareTypeFromVehicle(Vehicle* vehicle) const;
 
 private:
-    QMap<MAV_AUTOPILOT, QMap<QString, QmlObjectListModel*> >    _categoryToMavCmdInfoListMap;
-    QMap<MAV_CMD, MavCmdInfo*>                                  _mavCmdInfoMap;
+    QMap<MAV_AUTOPILOT, QMap<QString, QList<MAV_CMD> > > _categoryToMavCmdListMap;
+
+    MissionCommandList  _commonMissionCommands;                                     ///< Mission command definitions for common generic mavlink use case
 
-    static const QString _categoryJsonKey;
-    static const QString _decimalPlacesJsonKey;
-    static const QString _defaultJsonKey;
-    static const QString _descriptionJsonKey;
-    static const QString _enumStringsJsonKey;
-    static const QString _enumValuesJsonKey;
-    static const QString _friendlyNameJsonKey;
-    static const QString _friendlyEditJsonKey;
-    static const QString _idJsonKey;
-    static const QString _labelJsonKey;
-    static const QString _mavCmdInfoJsonKey;
-    static const QString _param1JsonKey;
-    static const QString _param2JsonKey;
-    static const QString _param3JsonKey;
-    static const QString _param4JsonKey;
-    static const QString _paramJsonKeyFormat;
-    static const QString _rawNameJsonKey;
-    static const QString _standaloneCoordinateJsonKey;
-    static const QString _specifiesCoordinateJsonKey;
-    static const QString _unitsJsonKey;
-    static const QString _versionJsonKey;
+    QMap<MAV_AUTOPILOT, MissionCommandList*> _autopilotToCommonMissionCommands;     ///< MAV_AUTOPILOT specific common overrides
+    QMap<MAV_AUTOPILOT, MissionCommandList*> _autopilotToFixedWingMissionCommands;  ///< MAV_AUTOPILOT specific fixed wing overrides
+    QMap<MAV_AUTOPILOT, MissionCommandList*> _autopilotToMultiRotorMissionCommands; ///< MAV_AUTOPILOT specific multi rotor overrides
 };
 
 #endif

src/MissionManager/MissionController.cc

@@ -161,7 +161,7 @@ void MissionController::sendMissionItems(void)
 
 int MissionController::insertMissionItem(QGeoCoordinate coordinate, int i)
 {
-    MissionItem * newItem = new MissionItem(this);
+    MissionItem * newItem = new MissionItem(_activeVehicle, this);
     newItem->setSequenceNumber(_missionItems->count());
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
@@ -258,7 +258,7 @@ void MissionController::loadMissionFromFile(void)
 
         if (versionOk) {
             while (!in.atEnd()) {
-                MissionItem* item = new MissionItem();
+                MissionItem* item = new MissionItem(_activeVehicle, this);
 
                 if (item->load(in)) {
                     _missionItems->append(item);
@@ -494,7 +494,7 @@ void MissionController::_initAllMissionItems(void)
         homeItem = qobject_cast<MissionItem*>(_missionItems->get(0));
     } else {
         // Add the home position item to the front
-        homeItem = new MissionItem(this);
+        homeItem = new MissionItem(_activeVehicle, this);
         homeItem->setSequenceNumber(0);
         _missionItems->insert(0, homeItem);
     }

src/MissionManager/MissionItem.cc

@@ -74,8 +74,9 @@ QDebug operator<<(QDebug dbg, const MissionItem* missionItem)
     return dbg;
 }
 
-MissionItem::MissionItem(QObject* parent)
+MissionItem::MissionItem(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
+    , _vehicle(vehicle)
     , _rawEdit(false)
     , _dirty(false)
     , _sequenceNumber(0)
@@ -107,7 +108,7 @@ MissionItem::MissionItem(QObject* parent)
     , _param7MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
@@ -121,7 +122,8 @@ MissionItem::MissionItem(QObject* parent)
     setDefaultsForCommand();
 }
 
-MissionItem::MissionItem(int             sequenceNumber,
+MissionItem::MissionItem(Vehicle*       vehicle,
+                         int             sequenceNumber,
                          MAV_CMD         command,
                          MAV_FRAME       frame,
                          double          param1,
@@ -135,6 +137,7 @@ MissionItem::MissionItem(int             sequenceNumber,
                          bool            isCurrentItem,
                          QObject*        parent)
     : QObject(parent)
+    , _vehicle(vehicle)
     , _rawEdit(false)
     , _dirty(false)
     , _sequenceNumber(sequenceNumber)
@@ -165,7 +168,7 @@ MissionItem::MissionItem(int             sequenceNumber,
     , _param7MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
@@ -192,6 +195,7 @@ MissionItem::MissionItem(int             sequenceNumber,
 
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     : QObject(parent)
+    , _vehicle(NULL)
     , _rawEdit(false)
     , _dirty(false)
     , _sequenceNumber(0)
@@ -219,7 +223,7 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     , _param4MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
+    , _missionCommands(qgcApp()->toolbox()->missionCommands())
 {
     // Need a good command and frame before we start passing signals around
     _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
@@ -234,6 +238,8 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
 {
+    _vehicle = other._vehicle;
+
     setCommand(other.command());
     setFrame(other.frame());
     setRawEdit(other._rawEdit);
@@ -314,7 +320,8 @@ void MissionItem::_setupMetaData(void)
 
         enumStrings.clear();
         enumValues.clear();
-        foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
+        foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
+            const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
             enumStrings.append(mavCmdInfo->rawName());
             enumValues.append(QVariant(mavCmdInfo->command()));
         }
@@ -488,8 +495,8 @@ void MissionItem::setParam7(double param)
 
 bool MissionItem::standaloneCoordinate(void) const
 {
-    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
-        return _mavCmdInfoMap[(MAV_CMD)command()]->standaloneCoordinate();
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->standaloneCoordinate();
     } else {
         return false;
     }
@@ -497,8 +504,8 @@ bool MissionItem::standaloneCoordinate(void) const
 
 bool MissionItem::specifiesCoordinate(void) const
 {
-    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
-        return _mavCmdInfoMap[(MAV_CMD)command()]->specifiesCoordinate();
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
     } else {
         return false;
     }
@@ -506,8 +513,8 @@ bool MissionItem::specifiesCoordinate(void) const
 
 QString MissionItem::commandDescription(void) const
 {
-    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
-        return _mavCmdInfoMap[(MAV_CMD)command()]->description();
+    if (_missionCommands->contains((MAV_CMD)command())) {
+        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
     } else {
         qWarning() << "Should not ask for command description on unknown command";
         return QString();
@@ -561,7 +568,7 @@ QmlObjectListModel* MissionItem::textFieldFacts(void)
         FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };
 
         for (int i=1; i<=7; i++) {
-            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _mavCmdInfoMap[command]->paramInfoMap();
+            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
 
             if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
                 Fact*               paramFact =     rgParamFacts[i-1];
@@ -615,7 +622,7 @@ QmlObjectListModel* MissionItem::comboboxFacts(void)
         MAV_CMD command = (MAV_CMD)this->command();
 
         for (int i=1; i<=7; i++) {
-            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _mavCmdInfoMap[command]->paramInfoMap();
+            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();
 
             if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
                 Fact*               paramFact =     rgParamFacts[i-1];
@@ -649,7 +656,7 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 
 bool MissionItem::friendlyEditAllowed(void) const
 {
-    if (_mavCmdInfoMap.contains((MAV_CMD)command()) && _mavCmdInfoMap[(MAV_CMD)command()]->friendlyEdit()) {
+    if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
         if (!autoContinue()) {
             return false;
         }
@@ -752,8 +759,9 @@ void MissionItem::setDefaultsForCommand(void)
     // We set these global defaults first, then if there are param defaults they will get reset
     setParam7(defaultAltitude);
 
-    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
-        foreach (const MavCmdParamInfo* paramInfo, _mavCmdInfoMap[(MAV_CMD)command()]->paramInfoMap()) {
+    MAV_CMD command = (MAV_CMD)this->command();
+    if (_missionCommands->contains(command)) {
+        foreach (const MavCmdParamInfo* paramInfo, _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap()) {
             Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact };
 
             rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
@@ -782,11 +790,12 @@ void MissionItem::_sendCommandChanged(void)
 
 QString MissionItem::commandName(void) const
 {
-    if (_mavCmdInfoMap.contains((MAV_CMD)command())) {
-        const MavCmdInfo* mavCmdInfo = _mavCmdInfoMap[(MAV_CMD)command()];
+    MAV_CMD command = (MAV_CMD)this->command();
+    if (_missionCommands->contains(command)) {
+        const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
         return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
     } else {
-        return QString("Unknown: %1").arg(command());
+        return QString("Unknown: %1").arg(command);
     }
 }
 

src/MissionManager/MissionItem.h

@@ -46,9 +46,10 @@ class MissionItem : public QObject
     Q_OBJECT
     
 public:
-    MissionItem(QObject* parent = NULL);
+    MissionItem(Vehicle* vehicle, QObject* parent = NULL);
 
-    MissionItem(int             sequenceNumber,
+    MissionItem(Vehicle*        vehicle,
+                int             sequenceNumber,
                 MAV_CMD         command,
                 MAV_FRAME       frame,
                 double          param1,
@@ -212,6 +213,7 @@ private:
     void _setupMetaData(void);
 
 private:
+    Vehicle*    _vehicle;                   ///< Vehicle associated with this item, NULL for offline mode
     bool        _rawEdit;
     bool        _dirty;
     int         _sequenceNumber;
@@ -257,7 +259,7 @@ private:
     bool _syncingAltitudeRelativeToHomeAndFrame;    ///< true: already in a sync signal, prevents signal loop
     bool _syncingHeadingDegreesAndParam4;           ///< true: already in a sync signal, prevents signal loop
 
-    const QMap<MAV_CMD, MavCmdInfo*>& _mavCmdInfoMap;
+    const MissionCommands*  _missionCommands;
 };
 
 QDebug operator<<(QDebug dbg, const MissionItem& missionItem);

src/MissionManager/MissionItemTest.cc

@@ -103,7 +103,8 @@ void MissionItemTest::_test(void)
         
         qDebug() << "Command:" << info->command;
         
-        MissionItem* item = new MissionItem(1,
+        MissionItem* item = new MissionItem(NULL,           // Vehicle
+                                            1,
                                             info->command,
                                             info->frame,
                                             10.1234567,
@@ -158,7 +159,7 @@ void MissionItemTest::_test(void)
         QCOMPARE(factCount, expected->cFactValues);
         
         // Validate that loading is working correctly
-        MissionItem* loadedItem = new MissionItem();
+        MissionItem* loadedItem = new MissionItem(NULL /* Vehicle */);
         QTextStream loadStream(&savedItemString, QIODevice::ReadOnly);
         QVERIFY(loadedItem->load(loadStream));
         QCOMPARE(loadedItem->coordinate().latitude(), item->coordinate().latitude());
@@ -180,7 +181,7 @@ void MissionItemTest::_test(void)
 
 void MissionItemTest::_testDefaultValues(void)
 {
-    MissionItem item;
+    MissionItem item(NULL /* Vehicle */);
 
     item.setCommand(MAV_CMD_NAV_WAYPOINT);
     item.setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);

src/MissionManager/MissionManager.cc

@@ -251,7 +251,8 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
         _requestItemRetryCount = 0;
         _itemIndicesToRead.removeOne(missionItem.seq);
 
-        MissionItem* item = new MissionItem(missionItem.seq,
+        MissionItem* item = new MissionItem(_vehicle,
+                                            missionItem.seq,
                                             (MAV_CMD)missionItem.command,
                                             (MAV_FRAME)missionItem.frame,
                                             missionItem.param1,

src/MissionManager/MissionManagerTest.cc

@@ -50,7 +50,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     QmlObjectListModel* list = new QmlObjectListModel();
     
     // Editor has a home position item on the front, so we do the same
-    MissionItem* homeItem = new MissionItem(this);
+    MissionItem* homeItem = new MissionItem(NULL /* Vehicle */, this);
     homeItem->setHomePositionSpecialCase(true);
     homeItem->setHomePositionValid(false);
     homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
@@ -61,7 +61,7 @@ void MissionManagerTest::_writeItems(MockLinkMissionItemHandler::FailureMode_t f
     for (size_t i=0; i<_cTestCases; i++) {
         const TestCase_t* testCase = &_rgTestCases[i];
         
-        MissionItem* item = new MissionItem(list);
+        MissionItem* item = new MissionItem(NULL /* Vehicle */, list);
         
         QTextStream loadStream(testCase->itemStream, QIODevice::ReadOnly);
         QVERIFY(item->load(loadStream));

src/QGCLoggingCategory.cc

@@ -29,6 +29,8 @@
 // Add Global logging categories (not class specific) here using QGC_LOGGING_CATEGORY
 QGC_LOGGING_CATEGORY(FirmwareUpgradeLog,        "FirmwareUpgradeLog")
 QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog")
+QGC_LOGGING_CATEGORY(MissionCommandsLog,        "MissionCommandsLog")
+
 
 QGCLoggingCategoryRegister* _instance = NULL;
 

src/QGCLoggingCategory.h

@@ -33,6 +33,7 @@
 // Add Global logging categories (not class specific) here using Q_DECLARE_LOGGING_CATEGORY
 Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog)
 Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog)
+Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
 
 /// @def QGC_LOGGING_CATEGORY
 /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a