Merge pull request #4353 from DonLakeFlyer/APM3.2GeoFence

Correct handling of no GeoFence support

qgroundcontrol.qrc

@@ -168,6 +168,6 @@
         <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin">
-        <file alias="GeoFenceEditor.qml">src/FirmwarePlugin/GeoFenceEditor.qml</file>
+        <file alias="NoGeoFenceEditor.qml">src/FirmwarePlugin/NoGeoFenceEditor.qml</file>
     </qresource>
 </RCC>

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -251,8 +251,9 @@ void APMGeoFenceManager::_parametersReady(void)
     if (!_firstParamLoadComplete) {
         _firstParamLoadComplete = true;
 
-        _fenceSupported = _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("FENCE_ACTION")) &&
-                            !qgcApp()->runningUnitTests();
+        _fenceSupported = _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) &&
+                _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceActionParam) &&
+                !qgcApp()->runningUnitTests();
 
         if (_fenceSupported) {
             QStringList paramNames;
@@ -319,7 +320,11 @@ void APMGeoFenceManager::_circleRadiusRawValueChanged(QVariant value)
 
 QString APMGeoFenceManager::editorQml(void) const
 {
-    return _vehicle->multiRotor() ?
-                QStringLiteral("qrc:/FirmwarePlugin/APM/CopterGeoFenceEditor.qml") :
-                QStringLiteral("qrc:/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml");
+    if (_fenceSupported) {
+        return _vehicle->multiRotor() ?
+                    QStringLiteral("qrc:/FirmwarePlugin/APM/CopterGeoFenceEditor.qml") :
+                    QStringLiteral("qrc:/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml");
+    } else {
+        return QStringLiteral("qrc:/FirmwarePlugin/NoGeoFenceEditor.qml");
+    }
 }

src/MissionManager/GeoFenceManager.h

@@ -49,7 +49,7 @@ public:
     virtual QVariantList    params      (void) const { return QVariantList(); }
     virtual QStringList     paramLabels (void) const { return QStringList(); }
 
-    virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/GeoFenceEditor.qml"); }
+    virtual QString editorQml(void) const { return QStringLiteral("qrc:/FirmwarePlugin/NoGeoFenceEditor.qml"); }
 
     /// Error codes returned in error signal
     typedef enum {