New offline editing Vehicle support

Includes ability to load params

qgcresources.qrc

@@ -273,6 +273,8 @@
         <file alias="APMParameterFactMetaData.Sub.3.4.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml</file>
         <file alias="CopterGeoFenceEditor.qml">src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml</file>
         <file alias="PlaneGeoFenceEditor.qml">src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml</file>
+        <file alias="Copter.OfflineEditing.params">src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params</file>
+        <file alias="Plane.OfflineEditing.params">src/FirmwarePlugin/APM/Plane3.7.OfflineEditing.params</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin">
         <file alias="GeoFenceEditor.qml">src/FirmwarePlugin/GeoFenceEditor.qml</file>

src/FactSystem/ParameterLoader.cc

@@ -39,7 +39,7 @@ const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParameterFactMetaData"
 ParameterLoader::ParameterLoader(Vehicle* vehicle)
     : QObject(vehicle)
     , _vehicle(vehicle)
-    , _mavlink(qgcApp()->toolbox()->mavlinkProtocol())
+    , _mavlink(NULL)
     , _parametersReady(false)
     , _initialLoadComplete(false)
     , _waitingForDefaultComponent(false)
@@ -53,8 +53,12 @@ ParameterLoader::ParameterLoader(Vehicle* vehicle)
     , _initialRequestRetryCount(0)
     , _totalParamCount(0)
 {
-    Q_ASSERT(_vehicle);
-    Q_ASSERT(_mavlink);
+    if (_vehicle->isOfflineEditingVehicle()) {
+        _loadOfflineEditingParams();
+        return;
+    }
+
+    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();
 
     // We signal this to ouselves in order to start timer on our thread
     connect(this, &ParameterLoader::restartWaitingParamTimer, this, &ParameterLoader::_restartWaitingParamTimer);
@@ -1212,3 +1216,71 @@ QString ParameterLoader::_remapParamNameToVersion(const QString& paramName)
 
     return mappedParamName;
 }
+
+/// The offline editing vehicle can have custom loaded params bolted into it.
+void ParameterLoader::_loadOfflineEditingParams(void)
+{    
+    QString paramFilename = _vehicle->firmwarePlugin()->offlineEditingParamFile(_vehicle);
+    if (paramFilename.isEmpty()) {
+        return;
+    }
+
+    QFile paramFile(paramFilename);
+    if (!paramFile.open(QFile::ReadOnly)) {
+        qCWarning(ParameterLoaderLog) << "Unable to open offline editing params file" << paramFilename;
+    }
+
+    QTextStream paramStream(&paramFile);
+
+    while (!paramStream.atEnd()) {
+        QString line = paramStream.readLine();
+
+        if (line.startsWith("#")) {
+            continue;
+        }
+
+        QStringList paramData = line.split("\t");
+        Q_ASSERT(paramData.count() == 5);
+
+        _defaultComponentId = paramData.at(1).toInt();
+        QString paramName = paramData.at(2);
+        QString valStr = paramData.at(3);
+        MAV_PARAM_TYPE paramType = static_cast<MAV_PARAM_TYPE>(paramData.at(4).toUInt());
+
+        QVariant paramValue;
+        switch (paramType) {
+        case MAV_PARAM_TYPE_REAL32:
+            paramValue = QVariant(valStr.toFloat());
+            break;
+        case MAV_PARAM_TYPE_UINT32:
+            paramValue = QVariant(valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT32:
+            paramValue = QVariant(valStr.toInt());
+            break;
+        case MAV_PARAM_TYPE_UINT16:
+            paramValue = QVariant((quint16)valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT16:
+            paramValue = QVariant((qint16)valStr.toInt());
+            break;
+        case MAV_PARAM_TYPE_UINT8:
+            paramValue = QVariant((quint8)valStr.toUInt());
+            break;
+        case MAV_PARAM_TYPE_INT8:
+            paramValue = QVariant((qint8)valStr.toUInt());
+            break;
+        default:
+            qCritical() << "Unknown type" << paramType;
+            paramValue = QVariant(valStr.toInt());
+            break;
+        }
+
+        Fact* fact = new Fact(_defaultComponentId, paramName, _mavTypeToFactType(paramType), this);
+        _mapParameterName2Variant[_defaultComponentId][paramName] = QVariant::fromValue(fact);
+    }
+
+    _addMetaDataToDefaultComponent();
+    _parametersReady = true;
+    _initialLoadComplete = true;
+}

src/FactSystem/ParameterLoader.h

@@ -125,6 +125,7 @@ private:
     void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value);
     void _addMetaDataToDefaultComponent(void);
     QString _remapParamNameToVersion(const QString& paramName);
+    void _loadOfflineEditingParams(void);
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -31,6 +31,10 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
 {
     connect(_vehicle,                       &Vehicle::mavlinkMessageReceived,   this, &APMGeoFenceManager::_mavlinkMessageReceived);
     connect(_vehicle->getParameterLoader(), &ParameterLoader::parametersReady,  this, &APMGeoFenceManager::_parametersReady);
+
+    if (_vehicle->getParameterLoader()->parametersAreReady()) {
+        _parametersReady();
+    }
 }
 
 APMGeoFenceManager::~APMGeoFenceManager()
@@ -40,6 +44,10 @@ APMGeoFenceManager::~APMGeoFenceManager()
 
 void APMGeoFenceManager::sendToVehicle(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     if (_readTransactionInProgress) {
         _sendError(InternalError, QStringLiteral("Geo-Fence write attempted while read in progress."));
         return;
@@ -82,6 +90,10 @@ void APMGeoFenceManager::sendToVehicle(void)
 
 void APMGeoFenceManager::loadFromVehicle(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     _polygon.clear();
 
     if (!_geoFenceSupported()) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -67,6 +67,7 @@ public:
     bool multiRotorCoaxialMotors(Vehicle* vehicle) final;
     bool multiRotorXConfig(Vehicle* vehicle) final;
     QString geoFenceRadiusParam(Vehicle* vehicle) final;
+    QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Copter.OfflineEditing.params"); }
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

@@ -54,6 +54,9 @@ class ArduPlaneFirmwarePlugin : public APMFirmwarePlugin
     
 public:
     ArduPlaneFirmwarePlugin(void);
+
+    // Overrides from FirmwarePlugin
+    QString offlineEditingParamFile(Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
 };
 
 #endif

src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params

+# Onboard parameters for vehicle 1
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+1	1	ACCEL_Z_D	0.000000000000000000	9
+1	1	ACCEL_Z_FILT	20.000000000000000000	9
+1	1	ACCEL_Z_I	1.000000000000000000	9
+1	1	ACCEL_Z_IMAX	800.000000000000000000	9
+1	1	ACCEL_Z_P	0.500000000000000000	9
+1	1	ACRO_BAL_PITCH	1.000000000000000000	9
+1	1	ACRO_BAL_ROLL	1.000000000000000000	9
+1	1	ACRO_EXPO	0.300000011920928955	9
+1	1	ACRO_RP_P	4.500000000000000000	9
+1	1	ACRO_TRAINER	2	2
+1	1	ACRO_YAW_P	3.000000000000000000	9
+1	1	ADSB_ENABLE	0	2
+1	1	AHRS_COMP_BETA	0.100000001490116119	9
+1	1	AHRS_EKF_TYPE	2	2
+1	1	AHRS_GPS_GAIN	1.000000000000000000	9
+1	1	AHRS_GPS_MINSATS	6	2
+1	1	AHRS_GPS_USE	1	2
+1	1	AHRS_ORIENTATION	0	2
+1	1	AHRS_RP_P	0.200000002980232239	9
+1	1	AHRS_TRIM_X	0.000000000000000000	9
+1	1	AHRS_TRIM_Y	0.000000000000000000	9
+1	1	AHRS_TRIM_Z	0.000000000000000000	9
+1	1	AHRS_WIND_MAX	0	2
+1	1	AHRS_YAW_P	0.200000002980232239	9
+1	1	ANGLE_MAX	3000	4
+1	1	ARMING_CHECK	1	2
+1	1	ATC_ACCEL_P_MAX	110000.000000000000000000	9
+1	1	ATC_ACCEL_R_MAX	110000.000000000000000000	9
+1	1	ATC_ACCEL_Y_MAX	18000.000000000000000000	9
+1	1	ATC_ANGLE_BOOST	1	2
+1	1	ATC_ANG_LIM_TC	1.000000000000000000	9
+1	1	ATC_ANG_PIT_P	4.500000000000000000	9
+1	1	ATC_ANG_RLL_P	4.500000000000000000	9
+1	1	ATC_ANG_YAW_P	4.500000000000000000	9
+1	1	ATC_RATE_FF_ENAB	1	2
+1	1	ATC_RAT_PIT_D	0.003599999938160181	9
+1	1	ATC_RAT_PIT_FILT	20.000000000000000000	9
+1	1	ATC_RAT_PIT_I	0.090000003576278687	9
+1	1	ATC_RAT_PIT_IMAX	0.444000005722045898	9
+1	1	ATC_RAT_PIT_P	0.135000005364418030	9
+1	1	ATC_RAT_RLL_D	0.003599999938160181	9
+1	1	ATC_RAT_RLL_FILT	20.000000000000000000	9
+1	1	ATC_RAT_RLL_I	0.090000003576278687	9
+1	1	ATC_RAT_RLL_IMAX	0.444000005722045898	9
+1	1	ATC_RAT_RLL_P	0.135000005364418030	9
+1	1	ATC_RAT_YAW_D	0.000000000000000000	9
+1	1	ATC_RAT_YAW_FILT	5.000000000000000000	9
+1	1	ATC_RAT_YAW_I	0.017999999225139618	9
+1	1	ATC_RAT_YAW_IMAX	0.222000002861022949	9
+1	1	ATC_RAT_YAW_P	0.180000007152557373	9
+1	1	ATC_SLEW_YAW	1000.000000000000000000	9
+1	1	ATC_THR_MIX_MAX	0.500000000000000000	9
+1	1	ATC_THR_MIX_MIN	0.100000001490116119	9
+1	1	AUTOTUNE_AGGR	0.100000001490116119	9
+1	1	AUTOTUNE_AXES	7	2
+1	1	AUTOTUNE_MIN_D	0.001000000047497451	9
+1	1	AVD_ENABLE	0	2
+1	1	AVOID_ENABLE	1	2
+1	1	BATT2_AMP_OFFSET	0.000000000000000000	9
+1	1	BATT2_AMP_PERVOL	17.000000000000000000	9
+1	1	BATT2_CAPACITY	3300	6
+1	1	BATT2_CURR_PIN	3	2
+1	1	BATT2_MONITOR	0	2
+1	1	BATT2_VOLT_MULT	10.100000381469726562	9
+1	1	BATT2_VOLT_PIN	2	2
+1	1	BATT_AMP_OFFSET	0.000000000000000000	9
+1	1	BATT_AMP_PERVOLT	17.000000000000000000	9
+1	1	BATT_CAPACITY	5100	6
+1	1	BATT_CURR_PIN	3	2
+1	1	BATT_MONITOR	4	2
+1	1	BATT_VOLT_MULT	12.020000457763671875	9
+1	1	BATT_VOLT_PIN	2	2
+1	1	BRD_CAN_ENABLE	0	2
+1	1	BRD_IMU_TARGTEMP	112	2
+1	1	BRD_PWM_COUNT	6	2
+1	1	BRD_SAFETYENABLE	0	2
+1	1	BRD_SAFETY_MASK	0	6
+1	1	BRD_SBUS_OUT	0	2
+1	1	BRD_SER1_RTSCTS	2	2
+1	1	BRD_SER2_RTSCTS	2	2
+1	1	BRD_SERIAL_NUM	0	4
+1	1	BRD_TYPE	4	2
+1	1	BTN_ENABLE	0	2
+1	1	CAM_DURATION	10	2
+1	1	CAM_FEEDBACK_PIN	-1	2
+1	1	CAM_FEEDBACK_POL	1	2
+1	1	CAM_MAX_ROLL	0	4
+1	1	CAM_MIN_INTERVAL	0	4
+1	1	CAM_RELAY_ON	1	2
+1	1	CAM_SERVO_OFF	1100	4
+1	1	CAM_SERVO_ON	1300	4
+1	1	CAM_TRIGG_DIST	0.000000000000000000	9
+1	1	CAM_TRIGG_TYPE	0	2
+1	1	CH10_OPT	0	2
+1	1	CH11_OPT	0	2
+1	1	CH12_OPT	0	2
+1	1	CH7_OPT	18	2
+1	1	CH8_OPT	0	2
+1	1	CH9_OPT	0	2
+1	1	CHUTE_ENABLED	0	2
+1	1	CIRCLE_RADIUS	1000.000000000000000000	9
+1	1	CIRCLE_RATE	20.000000000000000000	9
+1	1	CLI_ENABLED	0	2
+1	1	COMPASS_AUTODEC	1	2
+1	1	COMPASS_CAL_FIT	8.000000000000000000	9
+1	1	COMPASS_DEC	0.000000000000000000	9
+1	1	COMPASS_DEV_ID	73225	6
+1	1	COMPASS_DEV_ID2	66826	6
+1	1	COMPASS_DEV_ID3	263178	6
+1	1	COMPASS_DIA2_X	1.070561408996582031	9
+1	1	COMPASS_DIA2_Y	0.934641718864440918	9
+1	1	COMPASS_DIA2_Z	0.959703207015991211	9
+1	1	COMPASS_DIA3_X	1.000000000000000000	9
+1	1	COMPASS_DIA3_Y	1.000000000000000000	9
+1	1	COMPASS_DIA3_Z	1.000000000000000000	9
+1	1	COMPASS_DIA_X	0.950750410556793213	9
+1	1	COMPASS_DIA_Y	0.820533096790313721	9
+1	1	COMPASS_DIA_Z	1.053607583045959473	9
+1	1	COMPASS_EXTERN2	0	2
+1	1	COMPASS_EXTERN3	0	2
+1	1	COMPASS_EXTERNAL	1	2
+1	1	COMPASS_LEARN	0	2
+1	1	COMPASS_MOT2_X	0.000000000000000000	9
+1	1	COMPASS_MOT2_Y	0.000000000000000000	9
+1	1	COMPASS_MOT2_Z	0.000000000000000000	9
+1	1	COMPASS_MOT3_X	0.000000000000000000	9
+1	1	COMPASS_MOT3_Y	0.000000000000000000	9
+1	1	COMPASS_MOT3_Z	0.000000000000000000	9
+1	1	COMPASS_MOTCT	0	2
+1	1	COMPASS_MOT_X	0.000000000000000000	9
+1	1	COMPASS_MOT_Y	0.000000000000000000	9
+1	1	COMPASS_MOT_Z	0.000000000000000000	9
+1	1	COMPASS_ODI2_X	-0.006595933344215155	9
+1	1	COMPASS_ODI2_Y	0.021764066070318222	9
+1	1	COMPASS_ODI2_Z	-0.046624138951301575	9
+1	1	COMPASS_ODI3_X	0.000000000000000000	9
+1	1	COMPASS_ODI3_Y	0.000000000000000000	9
+1	1	COMPASS_ODI3_Z	0.000000000000000000	9
+1	1	COMPASS_ODI_X	-0.012880827300250530	9
+1	1	COMPASS_ODI_Y	0.000514347339048982	9
+1	1	COMPASS_ODI_Z	0.017157316207885742	9
+1	1	COMPASS_OFS2_X	84.050094604492187500	9
+1	1	COMPASS_OFS2_Y	206.557006835937500000	9
+1	1	COMPASS_OFS2_Z	-23.648975372314453125	9
+1	1	COMPASS_OFS3_X	0.000000000000000000	9
+1	1	COMPASS_OFS3_Y	0.000000000000000000	9
+1	1	COMPASS_OFS3_Z	0.000000000000000000	9
+1	1	COMPASS_OFS_X	-117.674423217773437500	9
+1	1	COMPASS_OFS_Y	-16.476613998413085938	9
+1	1	COMPASS_OFS_Z	-14.397478103637695312	9
+1	1	COMPASS_ORIENT	0	2
+1	1	COMPASS_ORIENT2	0	2
+1	1	COMPASS_ORIENT3	0	2
+1	1	COMPASS_PRIMARY	0	2
+1	1	COMPASS_USE	1	2
+1	1	COMPASS_USE2	1	2
+1	1	COMPASS_USE3	1	2
+1	1	DISARM_DELAY	10	2
+1	1	EK2_ABIAS_P_NSE	0.004999999888241291	9
+1	1	EK2_ACC_P_NSE	0.600000023841857910	9
+1	1	EK2_ALT_M_NSE	3.000000000000000000	9
+1	1	EK2_ALT_SOURCE	0	2
+1	1	EK2_CHECK_SCALE	100	4
+1	1	EK2_EAS_I_GATE	400	4
+1	1	EK2_EAS_M_NSE	1.399999976158142090	9
+1	1	EK2_ENABLE	1	2
+1	1	EK2_FLOW_DELAY	10	2
+1	1	EK2_FLOW_I_GATE	300	4
+1	1	EK2_FLOW_M_NSE	0.250000000000000000	9
+1	1	EK2_GBIAS_P_NSE	0.000099999997473788	9
+1	1	EK2_GLITCH_RAD	25	2
+1	1	EK2_GPS_CHECK	31	2
+1	1	EK2_GPS_DELAY	220	4
+1	1	EK2_GPS_TYPE	1	2
+1	1	EK2_GSCL_P_NSE	0.000500000023748726	9
+1	1	EK2_GYRO_P_NSE	0.029999999329447746	9
+1	1	EK2_HGT_DELAY	60	4
+1	1	EK2_HGT_I_GATE	500	4
+1	1	EK2_IMU_MASK	3	2
+1	1	EK2_LOG_MASK	1	2
+1	1	EK2_MAGB_P_NSE	0.000099999997473788	9
+1	1	EK2_MAGE_P_NSE	0.001000000047497451	9
+1	1	EK2_MAG_CAL	3	2
+1	1	EK2_MAG_I_GATE	300	4
+1	1	EK2_MAG_M_NSE	0.050000000745058060	9
+1	1	EK2_MAX_FLOW	2.500000000000000000	9
+1	1	EK2_NOAID_M_NSE	10.000000000000000000	9
+1	1	EK2_POSNE_M_NSE	1.000000000000000000	9
+1	1	EK2_POS_I_GATE	500	4
+1	1	EK2_RNG_I_GATE	500	4
+1	1	EK2_RNG_M_NSE	0.500000000000000000	9
+1	1	EK2_RNG_USE_HGT	-1	2
+1	1	EK2_TAU_OUTPUT	25	2
+1	1	EK2_VELD_M_NSE	0.699999988079071045	9
+1	1	EK2_VELNE_M_NSE	0.500000000000000000	9
+1	1	EK2_VEL_I_GATE	500	4
+1	1	EK2_WIND_PSCALE	0.500000000000000000	9
+1	1	EK2_WIND_P_NSE	0.100000001490116119	9
+1	1	EK2_YAW_I_GATE	300	4
+1	1	EK2_YAW_M_NSE	0.500000000000000000	9
+1	1	EKF_ENABLE	0	2
+1	1	EPM_ENABLE	0	2
+1	1	ESC_CALIBRATION	0	2
+1	1	FENCE_ACTION	1	2
+1	1	FENCE_ALT_MAX	100.000000000000000000	9
+1	1	FENCE_ENABLE	1	2
+1	1	FENCE_MARGIN	2.000000000000000000	9
+1	1	FENCE_RADIUS	182.880004882812500000	9
+1	1	FENCE_TOTAL	0	2
+1	1	FENCE_TYPE	3	2
+1	1	FLOW_ENABLE	0	2
+1	1	FLOW_FXSCALER	0	4
+1	1	FLOW_FYSCALER	0	4
+1	1	FLOW_ORIENT_YAW	0	4
+1	1	FLTMODE1	2	2
+1	1	FLTMODE2	5	2
+1	1	FLTMODE3	3	2
+1	1	FLTMODE4	6	2
+1	1	FLTMODE5	6	2
+1	1	FLTMODE6	6	2
+1	1	FRAME	2	2
+1	1	FS_BATT_ENABLE	1	2
+1	1	FS_BATT_MAH	0.000000000000000000	9
+1	1	FS_BATT_VOLTAGE	10.500000000000000000	9
+1	1	FS_CRASH_CHECK	1	2
+1	1	FS_EKF_ACTION	1	2
+1	1	FS_EKF_THRESH	0.800000011920928955	9
+1	1	FS_GCS_ENABLE	1	2
+1	1	FS_THR_ENABLE	1	2
+1	1	FS_THR_VALUE	975	4
+1	1	GCS_PID_MASK	0	4
+1	1	GND_ABS_PRESS	100825.437500000000000000	9
+1	1	GND_ALT_OFFSET	0.000000000000000000	9
+1	1	GND_EFFECT_COMP	0	2
+1	1	GND_PRIMARY	0	2
+1	1	GND_TEMP	26.560714721679687500	9
+1	1	GPS_AUTO_CONFIG	1	2
+1	1	GPS_AUTO_SWITCH	1	2
+1	1	GPS_GNSS_MODE	0	2
+1	1	GPS_GNSS_MODE2	0	2
+1	1	GPS_HDOP_GOOD	250	4
+1	1	GPS_INJECT_TO	127	2
+1	1	GPS_MIN_DGPS	100	2
+1	1	GPS_MIN_ELEV	-100	2
+1	1	GPS_NAVFILTER	8	2
+1	1	GPS_RAW_DATA	0	2
+1	1	GPS_SAVE_CFG	0	2
+1	1	GPS_SBAS_MODE	2	2
+1	1	GPS_SBP_LOGMASK	-256	4
+1	1	GPS_TYPE	1	2
+1	1	GPS_TYPE2	0	2
+1	1	INS_ACC2OFFS_X	0.000000000000000000	9
+1	1	INS_ACC2OFFS_Y	0.000000000000000000	9
+1	1	INS_ACC2OFFS_Z	0.000000000000000000	9
+1	1	INS_ACC2SCAL_X	1.000000000000000000	9
+1	1	INS_ACC2SCAL_Y	1.000000000000000000	9
+1	1	INS_ACC2SCAL_Z	1.000000000000000000	9
+1	1	INS_ACC3OFFS_X	0.000000000000000000	9
+1	1	INS_ACC3OFFS_Y	0.000000000000000000	9
+1	1	INS_ACC3OFFS_Z	0.000000000000000000	9
+1	1	INS_ACC3SCAL_X	0.000000000000000000	9
+1	1	INS_ACC3SCAL_Y	0.000000000000000000	9
+1	1	INS_ACC3SCAL_Z	0.000000000000000000	9
+1	1	INS_ACCEL_FILTER	20	2
+1	1	INS_ACCOFFS_X	0.000000000000000000	9
+1	1	INS_ACCOFFS_Y	0.000000000000000000	9
+1	1	INS_ACCOFFS_Z	0.000000000000000000	9
+1	1	INS_ACCSCAL_X	1.000000000000000000	9
+1	1	INS_ACCSCAL_Y	1.000000000000000000	9
+1	1	INS_ACCSCAL_Z	1.000000000000000000	9
+1	1	INS_ACC_BODYFIX	2	2
+1	1	INS_GYR2OFFS_X	-0.034256070852279663	9
+1	1	INS_GYR2OFFS_Y	-0.001716651604510844	9
+1	1	INS_GYR2OFFS_Z	-0.009961522184312344	9
+1	1	INS_GYR3OFFS_X	0.000000000000000000	9
+1	1	INS_GYR3OFFS_Y	0.000000000000000000	9
+1	1	INS_GYR3OFFS_Z	0.000000000000000000	9
+1	1	INS_GYROFFS_X	-0.039947438985109329	9
+1	1	INS_GYROFFS_Y	0.001942739239893854	9
+1	1	INS_GYROFFS_Z	-0.002419092459604144	9
+1	1	INS_GYRO_FILTER	20	2
+1	1	INS_GYR_CAL	1	2
+1	1	INS_PRODUCT_ID	6	4
+1	1	INS_STILL_THRESH	2.500000000000000000	9
+1	1	INS_TRIM_OPTION	1	2
+1	1	INS_USE	1	2
+1	1	INS_USE2	1	2
+1	1	INS_USE3	0	2
+1	1	LAND_REPOSITION	1	2
+1	1	LAND_SPEED	50	4
+1	1	LAND_SPEED_HIGH	0	4
+1	1	LGR_SERVO_DEPLOY	1750	4
+1	1	LGR_SERVO_RTRACT	1250	4
+1	1	LOG_BACKEND_TYPE	1	2
+1	1	LOG_BITMASK	176126	6
+1	1	LOG_DISARMED	0	2
+1	1	LOG_FILE_BUFSIZE	16	2
+1	1	LOG_REPLAY	0	2
+1	1	MAG_ENABLE	1	2
+1	1	MIS_RESTART	0	2
+1	1	MIS_TOTAL	0	4
+1	1	MNT_ANGMAX_PAN	4500	4
+1	1	MNT_ANGMAX_ROL	4500	4
+1	1	MNT_ANGMAX_TIL	0	4
+1	1	MNT_ANGMIN_PAN	-4500	4
+1	1	MNT_ANGMIN_ROL	-4500	4
+1	1	MNT_ANGMIN_TIL	-4500	4
+1	1	MNT_DEFLT_MODE	3	2
+1	1	MNT_JSTICK_SPD	0	2
+1	1	MNT_LEAD_PTCH	0.000000000000000000	9
+1	1	MNT_LEAD_RLL	0.000000000000000000	9
+1	1	MNT_NEUTRAL_X	0.000000000000000000	9
+1	1	MNT_NEUTRAL_Y	0.000000000000000000	9
+1	1	MNT_NEUTRAL_Z	0.000000000000000000	9
+1	1	MNT_RC_IN_PAN	0	2
+1	1	MNT_RC_IN_ROLL	0	2
+1	1	MNT_RC_IN_TILT	0	2
+1	1	MNT_RETRACT_X	0.000000000000000000	9
+1	1	MNT_RETRACT_Y	0.000000000000000000	9
+1	1	MNT_RETRACT_Z	0.000000000000000000	9
+1	1	MNT_STAB_PAN	0	2
+1	1	MNT_STAB_ROLL	0	2
+1	1	MNT_STAB_TILT	0	2
+1	1	MNT_TYPE	0	2
+1	1	MOT_BAT_CURR_MAX	0.000000000000000000	9
+1	1	MOT_BAT_CURR_TC	5.000000000000000000	9
+1	1	MOT_BAT_VOLT_MAX	0.000000000000000000	9
+1	1	MOT_BAT_VOLT_MIN	0.000000000000000000	9
+1	1	MOT_HOVER_LEARN	2	2
+1	1	MOT_PWM_MAX	0	4
+1	1	MOT_PWM_MIN	0	4
+1	1	MOT_PWM_TYPE	0	2
+1	1	MOT_SPIN_ARM	0.100000001490116119	9
+1	1	MOT_SPIN_MAX	0.949999988079071045	9
+1	1	MOT_SPIN_MIN	0.150000005960464478	9
+1	1	MOT_THST_EXPO	0.649999976158142090	9
+1	1	MOT_THST_HOVER	0.500000000000000000	9
+1	1	MOT_YAW_HEADROOM	200	4
+1	1	NTF_BUZZ_ENABLE	0	2
+1	1	NTF_LED_BRIGHT	3	2
+1	1	NTF_LED_OVERRIDE	0	2
+1	1	PHLD_BRAKE_ANGLE	3000	4
+1	1	PHLD_BRAKE_RATE	8	4
+1	1	PILOT_ACCEL_Z	250	4
+1	1	PILOT_THR_BHV	0	4
+1	1	PILOT_THR_FILT	0.000000000000000000	9
+1	1	PILOT_TKOFF_ALT	0.000000000000000000	9
+1	1	PILOT_TKOFF_DZ	100	4
+1	1	PILOT_VELZ_MAX	250	4
+1	1	PLND_ENABLED	0	2
+1	1	POS_XY_P	1.000000000000000000	9
+1	1	POS_Z_P	1.000000000000000000	9
+1	1	PSC_ACC_XY_FILT	2.000000000000000000	9
+1	1	RALLY_INCL_HOME	1	2
+1	1	RALLY_LIMIT_KM	0.300000011920928955	9
+1	1	RALLY_TOTAL	0	2
+1	1	RC10_DZ	0	4
+1	1	RC10_FUNCTION	0	2
+1	1	RC10_MAX	2000	4
+1	1	RC10_MIN	1000	4
+1	1	RC10_REV	1	2
+1	1	RC10_TRIM	1500	4
+1	1	RC11_DZ	0	4
+1	1	RC11_FUNCTION	0	2
+1	1	RC11_MAX	2000	4
+1	1	RC11_MIN	1000	4
+1	1	RC11_REV	1	2
+1	1	RC11_TRIM	1500	4
+1	1	RC12_DZ	0	4
+1	1	RC12_FUNCTION	0	2
+1	1	RC12_MAX	2000	4
+1	1	RC12_MIN	1000	4
+1	1	RC12_REV	1	2
+1	1	RC12_TRIM	1500	4
+1	1	RC13_DZ	0	4
+1	1	RC13_FUNCTION	0	2
+1	1	RC13_MAX	2000	4
+1	1	RC13_MIN	1000	4
+1	1	RC13_REV	1	2
+1	1	RC13_TRIM	1500	4
+1	1	RC14_DZ	0	4
+1	1	RC14_FUNCTION	0	2
+1	1	RC14_MAX	2000	4
+1	1	RC14_MIN	1000	4
+1	1	RC14_REV	1	2
+1	1	RC14_TRIM	1500	4
+1	1	RC1_DZ	30	4
+1	1	RC1_MAX	2006	4
+1	1	RC1_MIN	982	4
+1	1	RC1_REV	1	2
+1	1	RC1_TRIM	1495	4
+1	1	RC2_DZ	30	4
+1	1	RC2_MAX	2006	4
+1	1	RC2_MIN	982	4
+1	1	RC2_REV	1	2
+1	1	RC2_TRIM	1494	4
+1	1	RC3_DZ	30	4
+1	1	RC3_MAX	2006	4
+1	1	RC3_MIN	982	4
+1	1	RC3_REV	1	2
+1	1	RC3_TRIM	982	4
+1	1	RC4_DZ	40	4
+1	1	RC4_MAX	2006	4
+1	1	RC4_MIN	982	4
+1	1	RC4_REV	1	2
+1	1	RC4_TRIM	1494	4
+1	1	RC5_DZ	0	4
+1	1	RC5_FUNCTION	0	2
+1	1	RC5_MAX	2000	4
+1	1	RC5_MIN	1000	4
+1	1	RC5_REV	1	2
+1	1	RC5_TRIM	1500	4
+1	1	RC6_DZ	0	4
+1	1	RC6_FUNCTION	0	2
+1	1	RC6_MAX	2000	4
+1	1	RC6_MIN	1000	4
+1	1	RC6_REV	1	2
+1	1	RC6_TRIM	1500	4
+1	1	RC7_DZ	0	4
+1	1	RC7_FUNCTION	0	2
+1	1	RC7_MAX	2000	4
+1	1	RC7_MIN	1000	4
+1	1	RC7_REV	1	2
+1	1	RC7_TRIM	1500	4
+1	1	RC8_DZ	0	4
+1	1	RC8_FUNCTION	0	2
+1	1	RC8_MAX	2000	4
+1	1	RC8_MIN	1000	4
+1	1	RC8_REV	1	2
+1	1	RC8_TRIM	1500	4
+1	1	RC9_DZ	0	4
+1	1	RC9_FUNCTION	0	2
+1	1	RC9_MAX	2000	4
+1	1	RC9_MIN	1000	4
+1	1	RC9_REV	1	2
+1	1	RC9_TRIM	1500	4
+1	1	RCMAP_PITCH	2	2
+1	1	RCMAP_ROLL	1	2
+1	1	RCMAP_THROTTLE	3	2
+1	1	RCMAP_YAW	4	2
+1	1	RC_FEEL_RP	50	2
+1	1	RC_SPEED	490	4
+1	1	RELAY_DEFAULT	0	2
+1	1	RELAY_PIN	-1	2
+1	1	RELAY_PIN2	-1	2
+1	1	RELAY_PIN3	-1	2
+1	1	RELAY_PIN4	-1	2
+1	1	RNGFND2_ADDR	0	2
+1	1	RNGFND2_FUNCTION	0	2
+1	1	RNGFND2_GNDCLEAR	10	2
+1	1	RNGFND2_MAX_CM	700	4
+1	1	RNGFND2_MIN_CM	20	4
+1	1	RNGFND2_OFFSET	0.000000000000000000	9
+1	1	RNGFND2_PIN	-1	2
+1	1	RNGFND2_RMETRIC	1	2
+1	1	RNGFND2_SCALING	3.000000000000000000	9
+1	1	RNGFND2_SETTLE	0	4
+1	1	RNGFND2_STOP_PIN	-1	2
+1	1	RNGFND2_TYPE	0	2
+1	1	RNGFND_ADDR	0	2
+1	1	RNGFND_FUNCTION	0	2
+1	1	RNGFND_GAIN	0.800000011920928955	9
+1	1	RNGFND_GNDCLEAR	10	2
+1	1	RNGFND_MAX_CM	700	4
+1	1	RNGFND_MIN_CM	20	4
+1	1	RNGFND_OFFSET	0.000000000000000000	9
+1	1	RNGFND_PIN	-1	2
+1	1	RNGFND_PWRRNG	0	4
+1	1	RNGFND_RMETRIC	1	2
+1	1	RNGFND_SCALING	3.000000000000000000	9
+1	1	RNGFND_SETTLE	0	4
+1	1	RNGFND_STOP_PIN	-1	2
+1	1	RNGFND_TYPE	0	2
+1	1	RPM2_SCALING	1.000000000000000000	9
+1	1	RPM2_TYPE	0	2
+1	1	RPM_MAX	100000.000000000000000000	9
+1	1	RPM_MIN	10.000000000000000000	9
+1	1	RPM_MIN_QUAL	0.500000000000000000	9
+1	1	RPM_SCALING	1.000000000000000000	9
+1	1	RPM_TYPE	0	2
+1	1	RSSI_ANA_PIN	11	2
+1	1	RSSI_CHANNEL	0	2
+1	1	RSSI_CHAN_HIGH	2000	4
+1	1	RSSI_CHAN_LOW	1000	4
+1	1	RSSI_PIN_HIGH	3.299999952316284180	9
+1	1	RSSI_PIN_LOW	0.000000000000000000	9
+1	1	RSSI_TYPE	1	2
+1	1	RTL_ALT	2000	4
+1	1	RTL_ALT_FINAL	0	4
+1	1	RTL_CLIMB_MIN	0	4
+1	1	RTL_CONE_SLOPE	3.000000000000000000	9
+1	1	RTL_LOIT_TIME	5000	6
+1	1	RTL_SPEED	0	4
+1	1	SCHED_DEBUG	0	2
+1	1	SCHED_LOOP_RATE	400	4
+1	1	SERIAL0_BAUD	115	6
+1	1	SERIAL0_PROTOCOL	1	2
+1	1	SERIAL1_BAUD	57	6
+1	1	SERIAL1_PROTOCOL	1	2
+1	1	SERIAL2_BAUD	9	6
+1	1	SERIAL2_PROTOCOL	3	2
+1	1	SERIAL3_BAUD	38	6
+1	1	SERIAL3_PROTOCOL	5	2
+1	1	SERIAL4_BAUD	38	6
+1	1	SERIAL4_PROTOCOL	5	2
+1	1	SERIAL5_BAUD	921600	6
+1	1	SERIAL5_PROTOCOL	1	2
+1	1	SIMPLE	0	2
+1	1	SR0_ADSB	5	4
+1	1	SR0_EXTRA1	0	4
+1	1	SR0_EXTRA2	0	4
+1	1	SR0_EXTRA3	0	4
+1	1	SR0_EXT_STAT	0	4
+1	1	SR0_PARAMS	0	4
+1	1	SR0_POSITION	0	4
+1	1	SR0_RAW_CTRL	0	4
+1	1	SR0_RAW_SENS	0	4
+1	1	SR0_RC_CHAN	0	4
+1	1	SR1_ADSB	5	4
+1	1	SR1_EXTRA1	0	4
+1	1	SR1_EXTRA2	0	4
+1	1	SR1_EXTRA3	0	4
+1	1	SR1_EXT_STAT	0	4
+1	1	SR1_PARAMS	0	4
+1	1	SR1_POSITION	0	4
+1	1	SR1_RAW_CTRL	0	4
+1	1	SR1_RAW_SENS	0	4
+1	1	SR1_RC_CHAN	0	4
+1	1	SR2_ADSB	5	4
+1	1	SR2_EXTRA1	10	4
+1	1	SR2_EXTRA2	10	4
+1	1	SR2_EXTRA3	3	4
+1	1	SR2_EXT_STAT	2	4
+1	1	SR2_PARAMS	10	4
+1	1	SR2_POSITION	3	4
+1	1	SR2_RAW_CTRL	0	4
+1	1	SR2_RAW_SENS	2	4
+1	1	SR2_RC_CHAN	2	4
+1	1	SR3_ADSB	5	4
+1	1	SR3_EXTRA1	0	4
+1	1	SR3_EXTRA2	0	4
+1	1	SR3_EXTRA3	0	4
+1	1	SR3_EXT_STAT	0	4
+1	1	SR3_PARAMS	0	4
+1	1	SR3_POSITION	0	4
+1	1	SR3_RAW_CTRL	0	4
+1	1	SR3_RAW_SENS	0	4
+1	1	SR3_RC_CHAN	0	4
+1	1	SUPER_SIMPLE	0	2
+1	1	SYSID_MYGCS	255	4
+1	1	SYSID_SW_MREV	120	4
+1	1	SYSID_SW_TYPE	10	2
+1	1	SYSID_THISMAV	1	4
+1	1	TELEM_DELAY	0	2
+1	1	TERRAIN_ENABLE	1	2
+1	1	TERRAIN_FOLLOW	0	2
+1	1	TERRAIN_SPACING	100	4
+1	1	THROW_MOT_START	0	2
+1	1	THROW_NEXTMODE	18	2
+1	1	THROW_TYPE	0	2
+1	1	THR_DZ	50	4
+1	1	TUNE	0	2
+1	1	TUNE_HIGH	1000	4
+1	1	TUNE_LOW	0	4
+1	1	VEL_XY_FILT_HZ	5.000000000000000000	9
+1	1	VEL_XY_I	0.500000000000000000	9
+1	1	VEL_XY_IMAX	1000.000000000000000000	9
+1	1	VEL_XY_P	1.000000000000000000	9
+1	1	VEL_Z_P	5.000000000000000000	9
+1	1	WPNAV_ACCEL	250.000000000000000000	9
+1	1	WPNAV_ACCEL_Z	100.000000000000000000	9
+1	1	WPNAV_LOIT_JERK	1000.000000000000000000	9
+1	1	WPNAV_LOIT_MAXA	250.000000000000000000	9
+1	1	WPNAV_LOIT_MINA	25.000000000000000000	9
+1	1	WPNAV_LOIT_SPEED	1000.000000000000000000	9
+1	1	WPNAV_RADIUS	200.000000000000000000	9
+1	1	WPNAV_RFND_USE	1	2
+1	1	WPNAV_SPEED	650.000000000000000000	9
+1	1	WPNAV_SPEED_DN	150.000000000000000000	9
+1	1	WPNAV_SPEED_UP	250.000000000000000000	9
+1	1	WP_NAVALT_MIN	0.000000000000000000	9
+1	1	WP_YAW_BEHAVIOR	2	2
\ No newline at end of file

src/FirmwarePlugin/APM/CopterGeoFenceEditor.qml

@@ -36,11 +36,6 @@ Column {
         color:          qgcPal.text
     }
 
-    QGCLabel {
-        text:       qsTr("Must be connected to Vehicle to change fence settings.")
-        visible:    !QGroundControl.multiVehicleManager.activeVehicle
-    }
-
     Repeater {
         model: geoFenceController.params
 
@@ -80,7 +75,7 @@ Column {
         anchors.left:   parent.left
         anchors.right:  parent.right
         flightMap:      editorMap
-        polygon:        root.polygon
+        polygon:        geoFenceController.polygon
         sectionLabel:   qsTr("Fence Polygon:")
         visible:        geoFenceController.polygonSupported
     }

src/FirmwarePlugin/APM/Plane3.7.OfflineEditing.params

+# Onboard parameters for vehicle 1
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+1	1	ACRO_LOCKING	0	2
+1	1	ACRO_PITCH_RATE	180	4
+1	1	ACRO_ROLL_RATE	180	4
+1	1	ADSB_ENABLE	0	2
+1	1	AFS_ENABLE	0	2
+1	1	AHRS_COMP_BETA	0.100000001490116119	9
+1	1	AHRS_EKF_TYPE	2	2
+1	1	AHRS_GPS_GAIN	1.000000000000000000	9
+1	1	AHRS_GPS_MINSATS	6	2
+1	1	AHRS_GPS_USE	1	2
+1	1	AHRS_ORIENTATION	0	2
+1	1	AHRS_RP_P	0.200000002980232239	9
+1	1	AHRS_TRIM_X	0.000000000000000000	9
+1	1	AHRS_TRIM_Y	0.000000000000000000	9
+1	1	AHRS_TRIM_Z	0.000000000000000000	9
+1	1	AHRS_WIND_MAX	0	2
+1	1	AHRS_YAW_P	0.200000002980232239	9
+1	1	ALT_CTRL_ALG	0	2
+1	1	ALT_HOLD_FBWCM	0	4
+1	1	ALT_HOLD_RTL	10000	6
+1	1	ALT_MIX	1.000000000000000000	9
+1	1	ALT_OFFSET	0	4
+1	1	ARMING_ACCTHRESH	0.750000000000000000	9
+1	1	ARMING_CHECK	1	4
+1	1	ARMING_MIN_VOLT	0.000000000000000000	9
+1	1	ARMING_MIN_VOLT2	0.000000000000000000	9
+1	1	ARMING_REQUIRE	1	2
+1	1	ARMING_RUDDER	1	2
+1	1	ARSPD_AUTOCAL	0	2
+1	1	ARSPD_ENABLE	1	2
+1	1	ARSPD_FBW_MAX	22	4
+1	1	ARSPD_FBW_MIN	9	4
+1	1	ARSPD_OFFSET	2.770258665084838867	9
+1	1	ARSPD_PIN	15	2
+1	1	ARSPD_PSI_RANGE	1.000000000000000000	9
+1	1	ARSPD_RATIO	1.993600010871887207	9
+1	1	ARSPD_SKIP_CAL	0	2
+1	1	ARSPD_TUBE_ORDER	2	2
+1	1	ARSPD_USE	0	2
+1	1	AUTOTUNE_LEVEL	6	2
+1	1	AUTO_FBW_STEER	0	2
+1	1	AVD_ENABLE	0	2
+1	1	BATT2_AMP_OFFSET	0.000000000000000000	9
+1	1	BATT2_AMP_PERVOL	17.000000000000000000	9
+1	1	BATT2_CAPACITY	3300	6
+1	1	BATT2_CURR_PIN	3	2
+1	1	BATT2_MONITOR	0	2
+1	1	BATT2_VOLT_MULT	10.100000381469726562	9
+1	1	BATT2_VOLT_PIN	2	2
+1	1	BATT2_WATT_MAX	0	4
+1	1	BATT_AMP_OFFSET	0.000000000000000000	9
+1	1	BATT_AMP_PERVOLT	17.000000000000000000	9
+1	1	BATT_CAPACITY	3300	6
+1	1	BATT_CURR_PIN	3	2
+1	1	BATT_MONITOR	0	2
+1	1	BATT_VOLT_MULT	10.100000381469726562	9
+1	1	BATT_VOLT_PIN	2	2
+1	1	BATT_WATT_MAX	0	4
+1	1	BRD_CAN_ENABLE	0	2
+1	1	BRD_IMU_TARGTEMP	-1	2
+1	1	BRD_PWM_COUNT	4	2
+1	1	BRD_SAFETYENABLE	1	2
+1	1	BRD_SAFETY_MASK	0	6
+1	1	BRD_SBUS_OUT	0	2
+1	1	BRD_SER1_RTSCTS	2	2
+1	1	BRD_SER2_RTSCTS	2	2
+1	1	BRD_SERIAL_NUM	0	4
+1	1	BRD_TYPE	2	2
+1	1	BTN_ENABLE	0	2
+1	1	CAM_DURATION	10	2
+1	1	CAM_FEEDBACK_PIN	-1	2
+1	1	CAM_FEEDBACK_POL	1	2
+1	1	CAM_MAX_ROLL	0	4
+1	1	CAM_MIN_INTERVAL	0	4
+1	1	CAM_RELAY_ON	1	2
+1	1	CAM_SERVO_OFF	1100	4
+1	1	CAM_SERVO_ON	1300	4
+1	1	CAM_TRIGG_DIST	0.000000000000000000	9
+1	1	CAM_TRIGG_TYPE	0	2
+1	1	CHUTE_CHAN	0	2
+1	1	CHUTE_ENABLED	0	2
+1	1	CLI_ENABLED	0	2
+1	1	COMPASS_AUTODEC	1	2
+1	1	COMPASS_CAL_FIT	8.000000000000000000	9
+1	1	COMPASS_DEC	0.000000000000000000	9
+1	1	COMPASS_DEV_ID	131594	6
+1	1	COMPASS_DEV_ID2	0	6
+1	1	COMPASS_DEV_ID3	0	6
+1	1	COMPASS_DIA2_X	0.000000000000000000	9
+1	1	COMPASS_DIA2_Y	0.000000000000000000	9
+1	1	COMPASS_DIA2_Z	0.000000000000000000	9
+1	1	COMPASS_DIA3_X	0.000000000000000000	9
+1	1	COMPASS_DIA3_Y	0.000000000000000000	9
+1	1	COMPASS_DIA3_Z	0.000000000000000000	9
+1	1	COMPASS_DIA_X	1.000000000000000000	9
+1	1	COMPASS_DIA_Y	1.000000000000000000	9
+1	1	COMPASS_DIA_Z	1.000000000000000000	9
+1	1	COMPASS_EXTERN2	0	2
+1	1	COMPASS_EXTERN3	0	2
+1	1	COMPASS_EXTERNAL	0	2
+1	1	COMPASS_LEARN	1	2
+1	1	COMPASS_MOT2_X	0.000000000000000000	9
+1	1	COMPASS_MOT2_Y	0.000000000000000000	9
+1	1	COMPASS_MOT2_Z	0.000000000000000000	9
+1	1	COMPASS_MOT3_X	0.000000000000000000	9
+1	1	COMPASS_MOT3_Y	0.000000000000000000	9
+1	1	COMPASS_MOT3_Z	0.000000000000000000	9
+1	1	COMPASS_MOTCT	0	2
+1	1	COMPASS_MOT_X	0.000000000000000000	9
+1	1	COMPASS_MOT_Y	0.000000000000000000	9
+1	1	COMPASS_MOT_Z	0.000000000000000000	9
+1	1	COMPASS_ODI2_X	0.000000000000000000	9
+1	1	COMPASS_ODI2_Y	0.000000000000000000	9
+1	1	COMPASS_ODI2_Z	0.000000000000000000	9
+1	1	COMPASS_ODI3_X	0.000000000000000000	9
+1	1	COMPASS_ODI3_Y	0.000000000000000000	9
+1	1	COMPASS_ODI3_Z	0.000000000000000000	9
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+1	1	SR2_EXTRA2	1	4
+1	1	SR2_EXTRA3	1	4
+1	1	SR2_EXT_STAT	1	4
+1	1	SR2_PARAMS	10	4
+1	1	SR2_POSITION	1	4
+1	1	SR2_RAW_CTRL	1	4
+1	1	SR2_RAW_SENS	1	4
+1	1	SR2_RC_CHAN	1	4
+1	1	SR3_ADSB	5	4
+1	1	SR3_EXTRA1	1	4
+1	1	SR3_EXTRA2	1	4
+1	1	SR3_EXTRA3	1	4
+1	1	SR3_EXT_STAT	1	4
+1	1	SR3_PARAMS	10	4
+1	1	SR3_POSITION	1	4
+1	1	SR3_RAW_CTRL	1	4
+1	1	SR3_RAW_SENS	1	4
+1	1	SR3_RC_CHAN	1	4
+1	1	STAB_PITCH_DOWN	2.000000000000000000	9
+1	1	STALL_PREVENTION	1	2
+1	1	STEER2SRV_D	0.004999999888241291	9
+1	1	STEER2SRV_FF	0.000000000000000000	9
+1	1	STEER2SRV_I	0.200000002980232239	9
+1	1	STEER2SRV_IMAX	1500	4
+1	1	STEER2SRV_MINSPD	1.000000000000000000	9
+1	1	STEER2SRV_P	1.799999952316284180	9
+1	1	STEER2SRV_TCONST	0.750000000000000000	9
+1	1	STICK_MIXING	1	2
+1	1	SYSID_MYGCS	255	4
+1	1	SYSID_SW_TYPE	0	2
+1	1	SYSID_THISMAV	1	4
+1	1	SYS_NUM_RESETS	1	4
+1	1	TECS_APPR_SMAX	0.000000000000000000	9
+1	1	TECS_CLMB_MAX	5.000000000000000000	9
+1	1	TECS_HGT_OMEGA	3.000000000000000000	9
+1	1	TECS_INTEG_GAIN	0.100000001490116119	9
+1	1	TECS_LAND_ARSPD	-1.000000000000000000	9
+1	1	TECS_LAND_DAMP	0.500000000000000000	9
+1	1	TECS_LAND_IGAIN	0.000000000000000000	9
+1	1	TECS_LAND_PDAMP	0.000000000000000000	9
+1	1	TECS_LAND_PMAX	10	2
+1	1	TECS_LAND_SINK	0.250000000000000000	9
+1	1	TECS_LAND_SPDWGT	-1.000000000000000000	9
+1	1	TECS_LAND_SRC	0.000000000000000000	9
+1	1	TECS_LAND_TCONST	2.000000000000000000	9
+1	1	TECS_LAND_TDAMP	0.000000000000000000	9
+1	1	TECS_LAND_THR	-1.000000000000000000	9
+1	1	TECS_PITCH_MAX	0	2
+1	1	TECS_PITCH_MIN	0	2
+1	1	TECS_PTCH_DAMP	0.000000000000000000	9
+1	1	TECS_RLL2THR	10.000000000000000000	9
+1	1	TECS_SINK_MAX	5.000000000000000000	9
+1	1	TECS_SINK_MIN	2.000000000000000000	9
+1	1	TECS_SPDWEIGHT	1.000000000000000000	9
+1	1	TECS_SPD_OMEGA	2.000000000000000000	9
+1	1	TECS_THR_DAMP	0.500000000000000000	9
+1	1	TECS_TIME_CONST	5.000000000000000000	9
+1	1	TECS_TKOFF_IGAIN	0.000000000000000000	9
+1	1	TECS_VERT_ACC	7.000000000000000000	9
+1	1	TELEM_DELAY	0	2
+1	1	TERRAIN_ENABLE	1	2
+1	1	TERRAIN_FOLLOW	0	2
+1	1	TERRAIN_LOOKAHD	2000	4
+1	1	TERRAIN_SPACING	100	4
+1	1	THROTTLE_NUDGE	1	2
+1	1	THR_FAILSAFE	1	2
+1	1	THR_FS_VALUE	950	4
+1	1	THR_MAX	75	2
+1	1	THR_MIN	0	2
+1	1	THR_PASS_STAB	0	2
+1	1	THR_SLEWRATE	100	2
+1	1	THR_SUPP_MAN	0	2
+1	1	TKOFF_FLAP_PCNT	0	2
+1	1	TKOFF_PLIM_SEC	2.000000000000000000	9
+1	1	TKOFF_ROTATE_SPD	0.000000000000000000	9
+1	1	TKOFF_TDRAG_ELEV	0	2
+1	1	TKOFF_TDRAG_SPD1	0.000000000000000000	9
+1	1	TKOFF_THR_DELAY	2	2
+1	1	TKOFF_THR_MAX	0	2
+1	1	TKOFF_THR_MINACC	0.000000000000000000	9
+1	1	TKOFF_THR_MINSPD	0.000000000000000000	9
+1	1	TKOFF_THR_SLEW	0	2
+1	1	TRIM_ARSPD_CM	1200	6
+1	1	TRIM_AUTO	0	2
+1	1	TRIM_PITCH_CD	0	4
+1	1	TRIM_RC_AT_START	0	2
+1	1	TRIM_THROTTLE	45	2
+1	1	TUNE_CHAN	0	2
+1	1	TUNE_CHAN_MAX	2000	4
+1	1	TUNE_CHAN_MIN	1000	4
+1	1	TUNE_ERR_THRESH	0.150000005960464478	9
+1	1	TUNE_MODE_REVERT	1	2
+1	1	TUNE_PARAM	0	4
+1	1	TUNE_RANGE	2.000000000000000000	9
+1	1	TUNE_SELECTOR	0	2
+1	1	USE_REV_THRUST	2	4
+1	1	VTAIL_OUTPUT	0	2
+1	1	WP_LOITER_RAD	60	4
+1	1	WP_MAX_RADIUS	0	4
+1	1	WP_RADIUS	90	4
+1	1	YAW2SRV_DAMP	0.000000000000000000	9
+1	1	YAW2SRV_IMAX	1500	4
+1	1	YAW2SRV_INT	0.000000000000000000	9
+1	1	YAW2SRV_RLL	1.000000000000000000	9
+1	1	YAW2SRV_SLIP	0.000000000000000000	9

src/FirmwarePlugin/APM/PlaneGeoFenceEditor.qml

@@ -218,7 +218,7 @@ Column {
         anchors.left:   parent.left
         anchors.right:  parent.right
         flightMap:      editorMap
-        polygon:        root.polygon
+        polygon:        geoFenceController.polygon
         sectionLabel:   qsTr("Fence Polygon:")
     }
 }

src/FirmwarePlugin/FirmwarePlugin.h

@@ -216,6 +216,9 @@ public:
 
     /// Returns the parameter which holds the fence circle radius if supported.
     virtual QString geoFenceRadiusParam(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
+
+    /// Return the resource file which contains the set of params loaded for offline editing.
+    virtual QString offlineEditingParamFile(Vehicle* vehicle) { Q_UNUSED(vehicle); return QString(); }
 };
 
 #endif

src/FirmwarePlugin/GeoFenceEditor.qml

@@ -12,7 +12,7 @@ import QGroundControl.FactSystem    1.0
 QGCLabel {
     width:      availableWidth
     wrapMode:   Text.WordWrap
-    text:       qsTr("This vehicle does tno support GeoFence.")
+    text:       qsTr("This vehicle does not support GeoFence.")
 
     //property var contoller - controller - Must be passed in from Loader
     //property real availableWidth - Available width for control - Must be passed in from Loader

src/MissionManager/GeoFenceController.cc

@@ -62,11 +62,11 @@ void GeoFenceController::_signalAll(void)
     emit editorQmlChanged(editorQml());
 }
 
-void GeoFenceController::_activeVehicleBeingRemoved(Vehicle* vehicle)
+void GeoFenceController::_activeVehicleBeingRemoved(void)
 {
     _clearGeoFence();
     _signalAll();
-    vehicle->geoFenceManager()->disconnect(this);
+    _activeVehicle->geoFenceManager()->disconnect(this);
 }
 
 void GeoFenceController::_activeVehicleSet(void)
@@ -122,23 +122,23 @@ void GeoFenceController::removeAll(void)
 
 void GeoFenceController::loadFromVehicle(void)
 {
-    if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
         _activeVehicle->geoFenceManager()->loadFromVehicle();
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
     }
 }
 
 void GeoFenceController::sendToVehicle(void)
 {
-    if (_activeVehicle && _activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->getParameterLoader()->parametersAreReady() && !syncInProgress()) {
         _activeVehicle->geoFenceManager()->setPolygon(polygon());
         _activeVehicle->geoFenceManager()->setBreachReturnPoint(breachReturnPoint());
         setDirty(false);
         _polygon.setDirty(false);
         _activeVehicle->geoFenceManager()->sendToVehicle();
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterLoader()->parametersAreReady() << syncInProgress();
     }
 }
 
@@ -150,11 +150,7 @@ void GeoFenceController::_clearGeoFence(void)
 
 bool GeoFenceController::syncInProgress(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->inProgress();
-    } else {
-        return false;
-    }
+    return _activeVehicle->geoFenceManager()->inProgress();
 }
 
 bool GeoFenceController::dirty(void) const
@@ -183,38 +179,22 @@ void GeoFenceController::_polygonDirtyChanged(bool dirty)
 
 bool GeoFenceController::fenceSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->fenceSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->fenceSupported();
 }
 
 bool GeoFenceController::circleSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->circleSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->circleSupported();
 }
 
 bool GeoFenceController::polygonSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->polygonSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->polygonSupported();
 }
 
 bool GeoFenceController::breachReturnSupported(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->breachReturnSupported();
-    } else {
-        return true;
-    }
+    return _activeVehicle->geoFenceManager()->breachReturnSupported();
 }
 
 void GeoFenceController::_setDirty(void)
@@ -231,37 +211,20 @@ void GeoFenceController::_setPolygon(const QList<QGeoCoordinate>& polygon)
 
 float GeoFenceController::circleRadius(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->circleRadius();
-    } else {
-        return 0.0;
-    }
+    return _activeVehicle->geoFenceManager()->circleRadius();
 }
 
 QVariantList GeoFenceController::params(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->params();
-    } else {
-        return QVariantList();
-    }
+    return _activeVehicle->geoFenceManager()->params();
 }
 
 QStringList GeoFenceController::paramLabels(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->paramLabels();
-    } else {
-        return QStringList();
-    }
+    return _activeVehicle->geoFenceManager()->paramLabels();
 }
 
 QString GeoFenceController::editorQml(void) const
 {
-    if (_activeVehicle) {
-        return _activeVehicle->geoFenceManager()->editorQml();
-    } else {
-        // FIXME: Offline editing support
-        return QString();
-    }
+    return _activeVehicle->geoFenceManager()->editorQml();
 }

src/MissionManager/GeoFenceController.h

@@ -85,7 +85,7 @@ private:
     void _clearGeoFence(void);
     void _signalAll(void);
 
-    void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
+    void _activeVehicleBeingRemoved(void) final;
     void _activeVehicleSet(void) final;
 
     bool            _dirty;

src/MissionManager/MissionCommandTreeTest.cc

@@ -174,12 +174,12 @@ void MissionCommandTreeTest::testJsonLoad(void)
 void MissionCommandTreeTest::testOverride(void)
 {
     // Generic/Generic should not have any overrides
-    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC);
+    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_GENERIC, qgcApp()->toolbox()->firmwarePluginManager());
     _checkBaseValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
     delete vehicle;
 
     // Generic/FixedWing should have overrides
-    vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING);
+    vehicle = new Vehicle(MAV_AUTOPILOT_GENERIC, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
     _checkOverrideValues(_commandTree->getUIInfo(vehicle, (MAV_CMD)4), 4);
     delete vehicle;
 }
@@ -195,7 +195,7 @@ void MissionCommandTreeTest::testAllTrees(void)
     // This will cause all of the variants of collapsed trees to be built
     foreach(MAV_AUTOPILOT firmwareType, firmwareList) {
         foreach (MAV_TYPE vehicleType, vehicleList) {
-            Vehicle* vehicle = new Vehicle(firmwareType, vehicleType);
+            Vehicle* vehicle = new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager());
             qDebug() << firmwareType << vehicleType;
             QVERIFY(qgcApp()->toolbox()->missionCommandTree()->getUIInfo(vehicle, MAV_CMD_NAV_WAYPOINT) != NULL);
             delete vehicle;

src/MissionManager/MissionController.cc

@@ -1023,17 +1023,17 @@ void MissionController::_itemCommandChanged(void)
     _recalcWaypointLines();
 }
 
-void MissionController::_activeVehicleBeingRemoved(Vehicle* vehicle)
+void MissionController::_activeVehicleBeingRemoved(void)
 {
-    qCDebug(MissionControllerLog) << "_activeVehicleSet _activeVehicleBeingRemoved";
+    qCDebug(MissionControllerLog) << "MissionController::_activeVehicleBeingRemoved";
 
-    MissionManager* missionManager = vehicle->missionManager();
+    MissionManager* missionManager = _activeVehicle->missionManager();
 
     disconnect(missionManager, &MissionManager::newMissionItemsAvailable,   this, &MissionController::_newMissionItemsAvailableFromVehicle);
     disconnect(missionManager, &MissionManager::inProgressChanged,          this, &MissionController::_inProgressChanged);
     disconnect(missionManager, &MissionManager::currentItemChanged,         this, &MissionController::_currentMissionItemChanged);
-    disconnect(vehicle, &Vehicle::homePositionAvailableChanged,             this, &MissionController::_activeVehicleHomePositionAvailableChanged);
-    disconnect(vehicle, &Vehicle::homePositionChanged,                      this, &MissionController::_activeVehicleHomePositionChanged);
+    disconnect(_activeVehicle, &Vehicle::homePositionAvailableChanged,      this, &MissionController::_activeVehicleHomePositionAvailableChanged);
+    disconnect(_activeVehicle, &Vehicle::homePositionChanged,               this, &MissionController::_activeVehicleHomePositionChanged);
 
     // We always remove all items on vehicle change. This leaves a user model hole:
     //      If the user has unsaved changes in the Plan view they will lose them

src/MissionManager/MissionController.h

@@ -131,7 +131,7 @@ private:
     int _nextSequenceNumber(void);
 
     // Overrides from PlanElementController
-    void _activeVehicleBeingRemoved(Vehicle* vehicle) final;
+    void _activeVehicleBeingRemoved(void) final;
     void _activeVehicleSet(void) final;
 
 private:

src/MissionManager/MissionManager.cc

@@ -44,6 +44,10 @@ MissionManager::~MissionManager()
 
 void MissionManager::writeMissionItems(const QList<MissionItem*>& missionItems)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     if (inProgress()) {
         qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
         return;
@@ -131,6 +135,10 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
 
 void MissionManager::requestMissionItems(void)
 {
+    if (_vehicle->isOfflineEditingVehicle()) {
+        return;
+    }
+
     qCDebug(MissionManagerLog) << "requestMissionItems read sequence";
 
     if (inProgress()) {

src/MissionManager/PlanElementController.cc

@@ -9,11 +9,12 @@
 
 #include "PlanElementController.h"
 #include "QGCApplication.h"
+#include "MultiVehicleManager.h"
 
 PlanElementController::PlanElementController(QObject* parent)
     : QObject(parent)
-    , _activeVehicle(NULL)
     , _multiVehicleMgr(qgcApp()->toolbox()->multiVehicleManager())
+    , _activeVehicle(_multiVehicleMgr->offlineEditingVehicle())
     , _editMode(false)
 {
 
@@ -34,16 +35,16 @@ void PlanElementController::start(bool editMode)
 void PlanElementController::_activeVehicleChanged(Vehicle* activeVehicle)
 {
     if (_activeVehicle) {
-        Vehicle* vehicleSave = _activeVehicle;
+        _activeVehicleBeingRemoved();
         _activeVehicle = NULL;
-        _activeVehicleBeingRemoved(vehicleSave);
     }
 
-    _activeVehicle = activeVehicle;
-
-    if (_activeVehicle) {
-        _activeVehicleSet();
+    if (activeVehicle) {
+        _activeVehicle = activeVehicle;
+    } else {
+        _activeVehicle = _multiVehicleMgr->offlineEditingVehicle();
     }
+    _activeVehicleSet();
 
     // Whenever vehicle changes we need to update syncInProgress
     emit syncInProgressChanged(syncInProgress());

src/MissionManager/PlanElementController.h

@@ -52,13 +52,13 @@ signals:
     void dirtyChanged           (bool dirty);
 
 protected:
-    Vehicle*                _activeVehicle;
     MultiVehicleManager*    _multiVehicleMgr;
+    Vehicle*                _activeVehicle;     ///< Currently active vehicle, can be disconnected offline editing vehicle
     bool                    _editMode;
 
-    /// Called when the current active vehicle has been removed. Derived classes should override
-    /// to implement custom behavior. When this is called _activeVehicle has already been cleared.
-    virtual void _activeVehicleBeingRemoved(Vehicle* removedVehicle) = 0;
+    /// Called when the current active vehicle is about to be removed. Derived classes should override
+    /// to implement custom behavior.
+    virtual void _activeVehicleBeingRemoved(void) = 0;
 
     /// Called when a new active vehicle has been set. Derived classes should override
     /// to implement custom behavior.

src/MissionManager/SimpleMissionItemTest.cc

@@ -10,6 +10,7 @@
 
 #include "SimpleMissionItemTest.h"
 #include "SimpleMissionItem.h"
+#include "QGCApplication.h"
 
 const SimpleMissionItemTest::ItemInfo_t SimpleMissionItemTest::_rgItemInfo[] = {
     { MAV_CMD_NAV_WAYPOINT,     MAV_FRAME_GLOBAL_RELATIVE_ALT },
@@ -80,7 +81,7 @@ SimpleMissionItemTest::SimpleMissionItemTest(void)
 
 void SimpleMissionItemTest::_testEditorFacts(void)
 {
-    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING);
+    Vehicle* vehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_FIXED_WING, qgcApp()->toolbox()->firmwarePluginManager());
 
     for (size_t i=0; i<sizeof(_rgItemInfo)/sizeof(_rgItemInfo[0]); i++) {
         const ItemInfo_t* info = &_rgItemInfo[i];

src/Vehicle/MultiVehicleManager.cc

@@ -7,16 +7,13 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "MultiVehicleManager.h"
 #include "AutoPilotPlugin.h"
 #include "MAVLinkProtocol.h"
 #include "UAS.h"
 #include "QGCApplication.h"
 #include "FollowMe.h"
+#include "QGroundControlQmlGlobal.h"
 
 #ifdef __mobile__
 #include "MobileScreenMgr.h"
@@ -33,7 +30,7 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     , _activeVehicleAvailable(false)
     , _parameterReadyVehicleAvailable(false)
     , _activeVehicle(NULL)
-    , _disconnectedVehicle(NULL)
+    , _offlineEditingVehicle(NULL)
     , _firmwarePluginManager(NULL)
     , _autopilotPluginManager(NULL)
     , _joystickManager(NULL)
@@ -50,8 +47,6 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
     if (_gcsHeartbeatEnabled) {
         _gcsHeartbeatTimer.start();
     }
-
-    _disconnectedVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, this);
 }
 
 void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
@@ -67,6 +62,11 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
 
    connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &MultiVehicleManager::_vehicleHeartbeatInfo);
+
+   _offlineEditingVehicle = new Vehicle(static_cast<MAV_AUTOPILOT>(QGroundControlQmlGlobal::offlineEditingFirmwareType()->rawValue().toInt()),
+                                        static_cast<MAV_TYPE>(QGroundControlQmlGlobal::offlineEditingVehicleType()->rawValue().toInt()),
+                                        _firmwarePluginManager,
+                                        this);
 }
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)

src/Vehicle/MultiVehicleManager.h

@@ -45,8 +45,8 @@ public:
     Q_PROPERTY(QmlObjectListModel*  vehicles                        READ vehicles                                                       CONSTANT)
     Q_PROPERTY(bool                 gcsHeartBeatEnabled             READ gcsHeartbeatEnabled            WRITE setGcsHeartbeatEnabled    NOTIFY gcsHeartBeatEnabledChanged)
 
-    /// A disconnected vehicle is used to simulate vehicle information while no vehicle is connected.
-    Q_PROPERTY(Vehicle*             disconnectedVehicle             MEMBER _disconnectedVehicle                                         CONSTANT)
+    /// A disconnected vehicle used for offline editing. It will match the vehicle type specified in Settings.
+    Q_PROPERTY(Vehicle*             offlineEditingVehicle           READ offlineEditingVehicle                                          CONSTANT)
 
     // Methods
 
@@ -68,6 +68,8 @@ public:
     bool gcsHeartbeatEnabled(void) const { return _gcsHeartbeatEnabled; }
     void setGcsHeartbeatEnabled(bool gcsHeartBeatEnabled);
 
+    Vehicle* offlineEditingVehicle(void) { return _offlineEditingVehicle; }
+
     /// Determines if the link is in use by a Vehicle
     ///     @param link Link to test against
     ///     @param skipVehicle Don't consider this Vehicle as part of the test
@@ -101,7 +103,7 @@ private:
     bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
-    Vehicle*    _disconnectedVehicle;               ///< Disconnected vechicle for FactGroup access
+    Vehicle*    _offlineEditingVehicle;             ///< Disconnected vechicle used for offline editing
 
     QList<Vehicle*> _vehiclesBeingDeleted;          ///< List of Vehicles being deleted in queued phases
     Vehicle*        _vehicleBeingSetActive;         ///< Vehicle being set active in queued phases

src/Vehicle/Vehicle.cc

@@ -65,7 +65,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
     , _id(vehicleId)
     , _active(false)
-    , _disconnectedVehicle(false)
+    , _offlineEditingVehicle(false)
     , _firmwareType(firmwareType)
     , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
@@ -203,7 +203,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
     connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
 
-    // GeoFenceManager needs to access ParameterLoader so make sure to create afters
+    // GeoFenceManager needs to access ParameterLoader so make sure to create after
     _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
     connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
 
@@ -254,12 +254,15 @@ Vehicle::Vehicle(LinkInterface*             link,
     _vibrationFactGroup.setVehicle(this);
 }
 
-// Disconnected Vehicle
-Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent)
+// Disconnected Vehicle for offline editing
+Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
+                 MAV_TYPE                   vehicleType,
+                 FirmwarePluginManager*     firmwarePluginManager,
+                 QObject*                   parent)
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
     , _id(0)
     , _active(false)
-    , _disconnectedVehicle(true)
+    , _offlineEditingVehicle(true)
     , _firmwareType(firmwareType)
     , _vehicleType(vehicleType)
     , _firmwarePlugin(NULL)
@@ -290,12 +293,14 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* pare
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
     , _missionManagerInitialRequestComplete(false)
+    , _geoFenceManager(NULL)
+    , _geoFenceManagerInitialRequestComplete(false)
     , _parameterLoader(NULL)
     , _armed(false)
     , _base_mode(0)
     , _custom_mode(0)
     , _nextSendMessageMultipleIndex(0)
-    , _firmwarePluginManager(NULL)
+    , _firmwarePluginManager(firmwarePluginManager)
     , _autopilotPluginManager(NULL)
     , _joystickManager(NULL)
     , _flowImageIndex(0)
@@ -322,10 +327,16 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* pare
     , _windFactGroup(this)
     , _vibrationFactGroup(this)
 {
-    // This is a hack for disconnected vehicle used while unit testing
-    if (qgcApp()->toolbox() && qgcApp()->toolbox()->firmwarePluginManager()) {
-        _firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
-    }
+    _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
+
+    _missionManager = new MissionManager(this);
+    connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
+
+    _parameterLoader = new ParameterLoader(this);
+
+    // GeoFenceManager needs to access ParameterLoader so make sure to create after
+    _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
+    connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
 
     // Build FactGroup object model
 
@@ -1406,11 +1417,6 @@ void Vehicle::disconnectInactiveVehicle(void)
     }
 }
 
-ParameterLoader* Vehicle::getParameterLoader(void)
-{
-    return _parameterLoader;
-}
-
 void Vehicle::_imageReady(UASInterface*)
 {
     if(_uas)
@@ -1829,7 +1835,7 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
 /// Returns true if the specifed parameter exists from the default component
 bool Vehicle::parameterExists(int componentId, const QString& name) const
 {
-    return _autopilotPlugin->parameterExists(componentId, name);
+    return getParameterLoader()->parameterExists(componentId, name);
 }
 
 /// Returns the specified parameter Fact from the default component
@@ -1837,7 +1843,7 @@ bool Vehicle::parameterExists(int componentId, const QString& name) const
 /// parameterExists.
 Fact* Vehicle::getParameterFact(int componentId, const QString& name)
 {
-    return _autopilotPlugin->getParameterFact(componentId, name);
+    return getParameterLoader()->getFact(componentId, name);
 }
 
 void Vehicle::_newMissionItemsAvailable(void)

src/Vehicle/Vehicle.h

@@ -216,9 +216,11 @@ public:
             AutoPilotPluginManager* autopilotPluginManager,
             JoystickManager*        joystickManager);
 
-    // The following is used to create a disconnected Vehicle. Disconnected vehicles are used used to access FactGroup information
-    // without needing a real connection as well as offline mission planning.
-    Vehicle(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent = NULL);
+    // The following is used to create a disconnected Vehicle for use while offline editing.
+    Vehicle(MAV_AUTOPILOT           firmwareType,
+            MAV_TYPE                vehicleType,
+            FirmwarePluginManager*  firmwarePluginManager,
+            QObject*                parent = NULL);
 
     ~Vehicle();
 
@@ -276,6 +278,7 @@ public:
     Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
     Q_PROPERTY(bool                 coaxialMotors           READ coaxialMotors                                          CONSTANT)
     Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
+    Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying      READ flying     WRITE setFlying     NOTIFY flyingChanged)
@@ -497,32 +500,33 @@ public:
         MessageError
     } MessageType_t;
 
-    bool            messageTypeNone     () { return _currentMessageType == MessageNone; }
-    bool            messageTypeNormal   () { return _currentMessageType == MessageNormal; }
-    bool            messageTypeWarning  () { return _currentMessageType == MessageWarning; }
-    bool            messageTypeError    () { return _currentMessageType == MessageError; }
-    int             newMessageCount     () { return _currentMessageCount; }
-    int             messageCount        () { return _messageCount; }
-    QString         formatedMessages    ();
-    QString         formatedMessage     () { return _formatedMessage; }
-    QString         latestError         () { return _latestError; }
-    float           latitude            () { return _coordinate.latitude(); }
-    float           longitude           () { return _coordinate.longitude(); }
-    bool            mavPresent          () { return _mav != NULL; }
-    QString         currentState        () { return _currentState; }
-    int             rcRSSI              () { return _rcRSSI; }
-    bool            px4Firmware         () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
-    bool            apmFirmware         () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
-    bool            genericFirmware     () const { return !px4Firmware() && !apmFirmware(); }
-    bool            connectionLost      () const { return _connectionLost; }
-    bool            connectionLostEnabled() const { return _connectionLostEnabled; }
-    uint            messagesReceived    () { return _messagesReceived; }
-    uint            messagesSent        () { return _messagesSent; }
-    uint            messagesLost        () { return _messagesLost; }
-    bool            flying              () const { return _flying; }
-    bool            guidedMode          () const;
-    uint8_t         baseMode            () const { return _base_mode; }
-    uint32_t        customMode          () const { return _custom_mode; }
+    bool            messageTypeNone         () { return _currentMessageType == MessageNone; }
+    bool            messageTypeNormal       () { return _currentMessageType == MessageNormal; }
+    bool            messageTypeWarning      () { return _currentMessageType == MessageWarning; }
+    bool            messageTypeError        () { return _currentMessageType == MessageError; }
+    int             newMessageCount         () { return _currentMessageCount; }
+    int             messageCount            () { return _messageCount; }
+    QString         formatedMessages        ();
+    QString         formatedMessage         () { return _formatedMessage; }
+    QString         latestError             () { return _latestError; }
+    float           latitude                () { return _coordinate.latitude(); }
+    float           longitude               () { return _coordinate.longitude(); }
+    bool            mavPresent              () { return _mav != NULL; }
+    QString         currentState            () { return _currentState; }
+    int             rcRSSI                  () { return _rcRSSI; }
+    bool            px4Firmware             () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
+    bool            apmFirmware             () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
+    bool            genericFirmware         () const { return !px4Firmware() && !apmFirmware(); }
+    bool            connectionLost          () const { return _connectionLost; }
+    bool            connectionLostEnabled   () const { return _connectionLostEnabled; }
+    uint            messagesReceived        () { return _messagesReceived; }
+    uint            messagesSent            () { return _messagesSent; }
+    uint            messagesLost            () { return _messagesLost; }
+    bool            flying                  () const { return _flying; }
+    bool            guidedMode              () const;
+    uint8_t         baseMode                () const { return _base_mode; }
+    uint32_t        customMode              () const { return _custom_mode; }
+    bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
 
     Fact* roll              (void) { return &_rollFact; }
     Fact* heading           (void) { return &_headingFact; }
@@ -540,7 +544,8 @@ public:
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
-    ParameterLoader* getParameterLoader(void);
+    ParameterLoader* getParameterLoader(void) { return _parameterLoader; }
+    ParameterLoader* getParameterLoader(void) const { return _parameterLoader; }
 
     static const int cMaxRcChannels = 18;
 
@@ -697,9 +702,9 @@ private:
     QString _vehicleIdSpeech(void);
 
 private:
-    int     _id;            ///< Mavlink system id
+    int     _id;                    ///< Mavlink system id
     bool    _active;
-    bool    _disconnectedVehicle;   ///< This Vehicle is a "disconnected" vehicle for ui use when no active vehicle is available
+    bool    _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing
 
     MAV_AUTOPILOT       _firmwareType;
     MAV_TYPE            _vehicleType;

src/ui/preferences/GeneralSettings.qml

@@ -125,7 +125,7 @@ QGCView {
                     anchors.horizontalCenter: parent.horizontalCenter
                     QGCLabel {
                         id:             offlineLabel
-                        text:           qsTr("Offline Mission Editing")
+                        text:           qsTr("Offline Mission Editing (Requires Restart)")
                         font.family:    ScreenTools.demiboldFontFamily
                     }
                 }