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/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/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
                     }
                 }