APM Radio Config

Refactored PX4 radio config to work with both PX4 and APM

APM Radio Config
Refactored PX4 radio config to work with both PX4 and APM
b8e67980 · Don Gagne · 8ffe06fe · b8e67980 · b8e67980 · b8e67980
Commit b8e67980 authored Dec 05, 2015 by Don Gagne
18 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -499,7 +499,7 @@ HEADERS += \
    src/qgcunittest/MavlinkLogTest.h \
    src/qgcunittest/MessageBoxTest.h \
    src/qgcunittest/MultiSignalSpy.h \
-    src/qgcunittest/PX4RCCalibrationTest.h \
+    src/qgcunittest/RadioConfigTest.h \
    src/qgcunittest/TCPLinkTest.h \
    src/qgcunittest/TCPLoopBackServer.h \
    src/qgcunittest/UnitTest.h \
@@ -522,7 +522,7 @@ SOURCES += \
    src/qgcunittest/MavlinkLogTest.cc \
    src/qgcunittest/MessageBoxTest.cc \
    src/qgcunittest/MultiSignalSpy.cc \
-    src/qgcunittest/PX4RCCalibrationTest.cc \
+    src/qgcunittest/RadioConfigTest.cc \
    src/qgcunittest/TCPLinkTest.cc \
    src/qgcunittest/TCPLoopBackServer.cc \
    src/qgcunittest/UnitTest.cc \
@@ -536,6 +536,7 @@ SOURCES += \
 #
 INCLUDEPATH += \
+    src/AutoPilotPlugins/Common \
    src/AutoPilotPlugins/PX4 \
    src/FirmwarePlugin \
    src/Vehicle \
@@ -547,6 +548,8 @@ HEADERS+= \
    src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
    src/AutoPilotPlugins/APM/APMAirframeComponent.h \
    src/AutoPilotPlugins/APM/APMComponent.h \
+    src/AutoPilotPlugins/APM/APMRadioComponent.h \
+    src/AutoPilotPlugins/Common/RadioComponentController.h \
    src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
    src/AutoPilotPlugins/PX4/AirframeComponent.h \
    src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
@@ -557,8 +560,7 @@ HEADERS+= \
    src/AutoPilotPlugins/PX4/PowerComponentController.h \
    src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
    src/AutoPilotPlugins/PX4/PX4Component.h \
-    src/AutoPilotPlugins/PX4/RadioComponent.h \
+    src/AutoPilotPlugins/PX4/PX4RadioComponent.h \
-    src/AutoPilotPlugins/PX4/RadioComponentController.h \
    src/AutoPilotPlugins/PX4/SafetyComponent.h \
    src/AutoPilotPlugins/PX4/SensorsComponent.h \
    src/AutoPilotPlugins/PX4/SensorsComponentController.h \
@@ -591,6 +593,8 @@ SOURCES += \
    src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
    src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
    src/AutoPilotPlugins/APM/APMComponent.cc \
+    src/AutoPilotPlugins/APM/APMRadioComponent.cc \
+    src/AutoPilotPlugins/Common/RadioComponentController.cc \
    src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
    src/AutoPilotPlugins/PX4/AirframeComponent.cc \
    src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
@@ -601,8 +605,7 @@ SOURCES += \
    src/AutoPilotPlugins/PX4/PowerComponentController.cc \
    src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
    src/AutoPilotPlugins/PX4/PX4Component.cc \
-    src/AutoPilotPlugins/PX4/RadioComponent.cc \
+    src/AutoPilotPlugins/PX4/PX4RadioComponent.cc \
-    src/AutoPilotPlugins/PX4/RadioComponentController.cc \
    src/AutoPilotPlugins/PX4/SafetyComponent.cc \
    src/AutoPilotPlugins/PX4/SensorsComponent.cc \
    src/AutoPilotPlugins/PX4/SensorsComponentController.cc \

--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -97,8 +97,9 @@
        <file alias="QGroundControl/ScreenTools/qmldir">src/QmlControls/QGroundControl.ScreenTools.qmldir</file>
        <file alias="QGroundControl/ScreenTools/ScreenTools.qml">src/QmlControls/ScreenTools.qml</file>
        <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
-        <file alias="RadioComponent.qml">src/AutoPilotPlugins/PX4/RadioComponent.qml</file>
+        <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
-        <file alias="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>
+        <file alias="PX4RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/PX4RadioComponentSummary.qml</file>
+        <file alias="APMRadioComponentSummary.qml">src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml</file>
        <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
        <file alias="SafetyComponentSummary.qml">src/AutoPilotPlugins/PX4/SafetyComponentSummary.qml</file>
        <file alias="SensorsComponent.qml">src/AutoPilotPlugins/PX4/SensorsComponent.qml</file>

--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
@@ -52,6 +52,11 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
            Q_CHECK_PTR(_airframeComponent);
            _airframeComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+            _radioComponent = new APMRadioComponent(_vehicle, this);
+            Q_CHECK_PTR(_radioComponent);
+            _radioComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
        } else {
            qWarning() << "Call to vehicleCompenents prior to parametersReady";
        }

--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h
@@ -27,6 +27,7 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 #include "APMAirframeComponent.h"
+#include "APMRadioComponent.h"
 /// This is the APM specific implementation of the AutoPilot class.
 class APMAutoPilotPlugin : public AutoPilotPlugin
@@ -40,6 +41,9 @@ public:
    // Overrides from AutoPilotPlugin
    virtual const QVariantList& vehicleComponents(void);
+    APMAirframeComponent*   airframeComponent(void) { return _airframeComponent; }
+    APMRadioComponent*      radioComponent(void)    { return _radioComponent; }
 public slots:
    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
    void _parametersReadyPreChecks(bool missingParameters);
@@ -48,6 +52,7 @@ private:
    bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
    QVariantList            _components;
    APMAirframeComponent*   _airframeComponent;
+    APMRadioComponent*      _radioComponent;
 };
 #endif
--- a/src/AutoPilotPlugins/APM/APMRadioComponent.cc
+++ b/src/AutoPilotPlugins/APM/APMRadioComponent.cc
+/*=====================================================================
+ QGroundControl Open Source Ground Control Station
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ This file is part of the QGROUNDCONTROL project
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ ======================================================================*/
+#include "APMRadioComponent.h"
+#include "APMAutoPilotPlugin.h"
+APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
+    _name(tr("Radio"))
+{
+}
+QString APMRadioComponent::name(void) const
+{
+    return _name;
+}
+QString APMRadioComponent::description(void) const
+{
+    return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
+              "It also allows you to assign switches and dials to the various flight modes. "
+              "Prior to flight you must also calibrate the extents for all of your channels.");
+}
+QString APMRadioComponent::iconResource(void) const
+{
+    return "/qmlimages/RadioComponentIcon.png";
+}
+bool APMRadioComponent::requiresSetup(void) const
+{
+    return true;
+}
+bool APMRadioComponent::setupComplete(void) const
+{
+    // The best we can do to detect the need for a radio calibration is look for attitude
+    // controls to be mapped.
+    QStringList attitudeMappings;
+    attitudeMappings << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
+    foreach(QString mapParam, attitudeMappings) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
+            return false;
+        }
+    }
+    return true;
+}
+QString APMRadioComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    if (requiresSetup()) {
+        stateDescription = "Requires calibration";
+    } else {
+        stateDescription = "Calibrated";
+    }
+    return QString(stateDescription);
+}
+QStringList APMRadioComponent::setupCompleteChangedTriggerList(void) const
+{
+    QStringList triggers;
+    triggers << "RCMAP_ROLL" << "RCMAP_PITCH" << "RCMAP_YAW" << "RCMAP_THROTTLE";
+    return triggers;
+}
+QStringList APMRadioComponent::paramFilterList(void) const
+{
+    QStringList list;
+    list << "RC*";
+    return list;
+}
+QUrl APMRadioComponent::setupSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
+}
+QUrl APMRadioComponent::summaryQmlSource(void) const
+{
+    return QUrl::fromUserInput("qrc:/qml/APMRadioComponentSummary.qml");
+}
+QString APMRadioComponent::prerequisiteSetup(void) const
+{
+    APMAutoPilotPlugin* plugin = dynamic_cast<APMAutoPilotPlugin*>(_autopilot);
+    if (!plugin->airframeComponent()->setupComplete()) {
+        return plugin->airframeComponent()->name();
+    }
+    return QString();
+}
--- a/src/AutoPilotPlugins/APM/APMRadioComponent.h
+++ b/src/AutoPilotPlugins/APM/APMRadioComponent.h
+/*=====================================================================
+ QGroundControl Open Source Ground Control Station
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ This file is part of the QGROUNDCONTROL project
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ ======================================================================*/
+#ifndef APMRadioComponent_H
+#define APMRadioComponent_H
+#include "APMComponent.h"
+class APMRadioComponent : public APMComponent
+{
+    Q_OBJECT
+public:
+    APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    // Virtuals from PX4Component
+    virtual QStringList setupCompleteChangedTriggerList(void) const;
+    // Virtuals from VehicleComponent
+    virtual QString name(void) const;
+    virtual QString description(void) const;
+    virtual QString iconResource(void) const;
+    virtual bool requiresSetup(void) const;
+    virtual bool setupComplete(void) const;
+    virtual QString setupStateDescription(void) const;
+    virtual QUrl setupSource(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual QUrl summaryQmlSource(void) const;
+    virtual QString prerequisiteSetup(void) const;
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+#endif
--- a/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMRadioComponentSummary.qml
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.Palette 1.0
+FactPanel {
+    id:             panel
+    anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
+    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
+    FactPanelController { id: controller; factPanel: panel }
+    property Fact mapRollFact:      controller.getParameterFact(-1, "RCMAP_ROLL")
+    property Fact mapPitchFact:     controller.getParameterFact(-1, "RCMAP_PITCH")
+    property Fact mapYawFact:       controller.getParameterFact(-1, "RCMAP_YAW")
+    property Fact mapThrottleFact:  controller.getParameterFact(-1, "RCMAP_THROTTLE")
+    Column {
+        anchors.fill:       parent
+        anchors.margins:    8
+        VehicleSummaryRow {
+            labelText: "Roll:"
+            valueText: mapRollFact.value == 0 ? "Setup required" : mapRollFact.valueString
+        }
+        VehicleSummaryRow {
+            labelText: "Pitch:"
+            valueText: mapPitchFact.value == 0 ? "Setup required" : mapPitchFact.valueString
+        }
+        VehicleSummaryRow {
+            labelText: "Yaw:"
+            valueText: mapYawFact.value == 0 ? "Setup required" : mapYawFact.valueString
+        }
+        VehicleSummaryRow {
+            labelText: "Throttle:"
+            valueText: mapThrottleFact.value == 0 ? "Setup required" : mapThrottleFact.valueString
+        }
+    }
+}
--- a/src/AutoPilotPlugins/PX4/RadioComponent.qml
+++ b/src/AutoPilotPlugins/PX4/RadioComponent.qml
@@ -21,20 +21,17 @@
 ======================================================================*/
-/// @file
+import QtQuick          2.5
-///     @brief Radio Calibration
-///     @author Don Gagne <don@thegagnes.com>
-import QtQuick 2.2
 import QtQuick.Controls 1.2
-import QtQuick.Dialogs 1.2
+import QtQuick.Dialogs  1.2
-import QGroundControl.FactSystem 1.0
+import QGroundControl               1.0
-import QGroundControl.FactControls 1.0
+import QGroundControl.FactSystem    1.0
-import QGroundControl.Palette 1.0
+import QGroundControl.FactControls  1.0
-import QGroundControl.Controls 1.0
+import QGroundControl.Palette       1.0
-import QGroundControl.ScreenTools 1.0
+import QGroundControl.Controls      1.0
-import QGroundControl.Controllers 1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Controllers   1.0
 QGCView {
    id:         rootQGCView
@@ -42,19 +39,14 @@ QGCView {
    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
-    readonly property string dialogTitle: "Radio"
+    readonly property string    dialogTitle:            "Radio"
-    readonly property real labelToMonitorMargin: defaultTextWidth * 3
+    readonly property real      labelToMonitorMargin:   defaultTextWidth * 3
-    property bool controllerCompleted: false
-    property bool controllerAndViewReady: false
-    property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
+    property bool controllerCompleted:      false
+    property bool controllerAndViewReady:   false
    function updateChannelCount()
    {
-        if (controllerAndViewReady) {
-            if (rcInMode.value == 1) {
-                showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
-            }
 /*
            FIXME: Turned off for now, since it prevents binding. Need to restructure to
            allow binding and still check channel count
@@ -64,7 +56,6 @@ QGCView {
                hideDialog()
            }
 */
-        }
    }
    RadioComponentController {
@@ -75,8 +66,6 @@ QGCView {
        nextButton:     nextButton
        skipButton:     skipButton
-        onChannelCountChanged: updateChannelCount()
        Component.onCompleted: {
            controllerCompleted = true
            if (rootQGCView.completedSignalled) {
@@ -85,6 +74,9 @@ QGCView {
                updateChannelCount()
            }
        }
+        onChannelCountChanged:              updateChannelCount()
+        onFunctionMappingChangedAPMReboot:    showMessage("Reboot required", "Your stick mappings have changed, you must reboot the vehicle for correct operation.", StandardButton.Ok)
    }
    onCompleted: {
@@ -133,14 +125,6 @@ QGCView {
            }
        }
-        Component {
-            id: joystickEnabledDialogComponent
-            QGCViewMessage {
-                message: "Radio Config is disabled since you have a Joystick enabled."
-            }
-        }
        Component {
            id: spektrumBindDialogComponent
@@ -482,6 +466,7 @@ QGCView {
            QGCButton {
                showBorder: true
                text:       "Copy Trims"
+                visible:    QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
                onClicked:  showDialog(copyTrimsDialogComponent, dialogTitle, 50, StandardButton.Ok | StandardButton.Cancel)
            }

--- a/src/AutoPilotPlugins/PX4/RadioComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/RadioComponentController.cc
@@ -70,7 +70,7 @@ const char*  RadioComponentController::_imageSwitchMinMax = "radioSwitchMinMax.p
 const char* RadioComponentController::_settingsGroup = "RadioCalibration";
 const char* RadioComponentController::_settingsKeyTransmitterMode = "TransmitterMode";
-const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfo[RadioComponentController::rcCalFunctionMax] = {
+const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoPX4[RadioComponentController::rcCalFunctionMax] = {
    //Parameter          required
    { "RC_MAP_ROLL" },
    { "RC_MAP_PITCH" },
@@ -86,6 +86,22 @@ const struct RadioComponentController::FunctionInfo RadioComponentController::_r
    { "RC_MAP_AUX2" },
 };
+const struct RadioComponentController::FunctionInfo RadioComponentController::_rgFunctionInfoAPM[RadioComponentController::rcCalFunctionMax] = {
+    //Parameter          required
+    { "RCMAP_ROLL" },
+    { "RCMAP_PITCH" },
+    { "RCMAP_YAW" },
+    { "RCMAP_THROTTLE" },
+    { NULL },
+    { NULL },
+    { NULL },
+    { NULL },
+    { NULL },
+    { NULL },
+    { NULL },
+    { NULL },
+};
 RadioComponentController::RadioComponentController(void) :
    _currentStep(-1),
    _transmitterMode(2),
@@ -102,7 +118,7 @@ RadioComponentController::RadioComponentController(void) :
    _unitTestController = this;
 #endif
-    connect(_uas, &UASInterface::remoteControlChannelRawChanged, this, &RadioComponentController::_remoteControlChannelRawChanged);
+    connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RadioComponentController::_rcChannelsChanged);
    _loadSettings();
    _resetInternalCalibrationValues();
@@ -120,35 +136,38 @@ RadioComponentController::~RadioComponentController()
 }
 /// @brief Returns the state machine entry for the specified state.
-const RadioComponentController::stateMachineEntry* RadioComponentController::_getStateMachineEntry(int step)
+const RadioComponentController::stateMachineEntry* RadioComponentController::_getStateMachineEntry(int step) const
 {
-    static const char* msgBegin = "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
+    static const char* msgBeginPX4 =        "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
-                                 "It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
+                                            "It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
-                                 "Click Next to continue";
+                                            "Click Next to continue";
-    static const char* msgThrottleUp = "Move the Throttle stick all the way up and hold it there...";
+    static const char* msgBeginAPM =        "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
-    static const char* msgThrottleDown = "Move the Throttle stick all the way down and leave it there...";
+                                            "Please ensure all motor power is disconnected AND all props are removed from the vehicle.\n\n"
-    static const char* msgYawLeft = "Move the Yaw stick all the way to the left and hold it there...";
+                                            "Click Next to continue";
-    static const char* msgYawRight = "Move the Yaw stick all the way to the right and hold it there...";
+    static const char* msgThrottleUp =      "Move the Throttle stick all the way up and hold it there...";
-    static const char* msgRollLeft = "Move the Roll stick all the way to the left and hold it there...";
+    static const char* msgThrottleDown =    "Move the Throttle stick all the way down and leave it there...";
-    static const char* msgRollRight = "Move the Roll stick all the way to the right and hold it there...";
+    static const char* msgYawLeft =         "Move the Yaw stick all the way to the left and hold it there...";
-    static const char* msgPitchDown = "Move the Pitch stick all the way down and hold it there...";
+    static const char* msgYawRight =        "Move the Yaw stick all the way to the right and hold it there...";
-    static const char* msgPitchUp = "Move the Pitch stick all the way up and hold it there...";
+    static const char* msgRollLeft =        "Move the Roll stick all the way to the left and hold it there...";
-    static const char* msgPitchCenter = "Allow the Pitch stick to move back to center...";
+    static const char* msgRollRight =       "Move the Roll stick all the way to the right and hold it there...";
-    static const char* msgAux1Switch = "Move the switch or dial you want to use for Aux1.\n\n"
+    static const char* msgPitchDown =       "Move the Pitch stick all the way down and hold it there...";
+    static const char* msgPitchUp =         "Move the Pitch stick all the way up and hold it there...";
+    static const char* msgPitchCenter =     "Allow the Pitch stick to move back to center...";
+    static const char* msgAux1Switch =      "Move the switch or dial you want to use for Aux1.\n\n"
                                            "You can click Skip if you don't want to assign.";
-    static const char* msgAux2Switch = "Move the switch or dial you want to use for Aux2.\n\n"
+    static const char* msgAux2Switch =      "Move the switch or dial you want to use for Aux2.\n\n"
                                            "You can click Skip if you don't want to assign.";
-    static const char* msgSwitchMinMax = "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
+    static const char* msgSwitchMinMax =    "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
-    static const char* msgFlapsDetect = "Move the switch or dial you want to use for Flaps back and forth a few times. "
+    static const char* msgFlapsDetect =     "Move the switch or dial you want to use for Flaps back and forth a few times. "
                                            "Then leave the switch/dial at the position you want to use for Flaps fully extended.\n\n"
                                            "Click Next to continue.\n"
                                            "If you won't be using Flaps, click Skip.";
-    static const char* msgFlapsUp = "Move the switch or dial you want to use for Flaps to the position you want to use for Flaps fully retracted.";
+    static const char* msgFlapsUp =         "Move the switch or dial you want to use for Flaps to the position you want to use for Flaps fully retracted.";
-    static const char* msgComplete = "All settings have been captured. Click Next to write the new parameters to your board.";
+    static const char* msgComplete =        "All settings have been captured. Click Next to write the new parameters to your board.";
-    static const stateMachineEntry rgStateMachine[] = {
+    static const stateMachineEntry rgStateMachinePX4[] = {
        //Function
-        { rcCalFunctionMax,                 msgBegin,           _imageHome,         &RadioComponentController::_inputCenterWaitBegin,   &RadioComponentController::_saveAllTrims,       NULL },
+        { rcCalFunctionMax,                 msgBeginPX4,        _imageHome,         &RadioComponentController::_inputCenterWaitBegin,   &RadioComponentController::_saveAllTrims,       NULL },
        { rcCalFunctionThrottle,            msgThrottleUp,      _imageThrottleUp,   &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
        { rcCalFunctionThrottle,            msgThrottleDown,    _imageThrottleDown, &RadioComponentController::_inputStickMin,          NULL,                                           NULL },
        { rcCalFunctionYaw,                 msgYawRight,        _imageYawRight,     &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
@@ -166,9 +185,43 @@ const RadioComponentController::stateMachineEntry* RadioComponentController::_ge
        { rcCalFunctionMax,                 msgComplete,        _imageThrottleDown, NULL,                                               &RadioComponentController::_writeCalibration,   NULL },
    };
-    Q_ASSERT(step >=0 && step < (int)(sizeof(rgStateMachine) / sizeof(rgStateMachine[0])));
+    static const stateMachineEntry rgStateMachineAPM[] = {
+        //Function
+        { rcCalFunctionMax,                 msgBeginAPM,        _imageHome,         &RadioComponentController::_inputCenterWaitBegin,   &RadioComponentController::_saveAllTrims,       NULL },
+        { rcCalFunctionThrottle,            msgThrottleUp,      _imageThrottleUp,   &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
+        { rcCalFunctionThrottle,            msgThrottleDown,    _imageThrottleDown, &RadioComponentController::_inputStickMin,          NULL,                                           NULL },
+        { rcCalFunctionYaw,                 msgYawRight,        _imageYawRight,     &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
+        { rcCalFunctionYaw,                 msgYawLeft,         _imageYawLeft,      &RadioComponentController::_inputStickMin,          NULL,                                           NULL },
+        { rcCalFunctionRoll,                msgRollRight,       _imageRollRight,    &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
+        { rcCalFunctionRoll,                msgRollLeft,        _imageRollLeft,     &RadioComponentController::_inputStickMin,          NULL,                                           NULL },
+        { rcCalFunctionPitch,               msgPitchUp,         _imagePitchUp,      &RadioComponentController::_inputStickDetect,       NULL,                                           NULL },
+        { rcCalFunctionPitch,               msgPitchDown,       _imagePitchDown,    &RadioComponentController::_inputStickMin,          NULL,                                           NULL },
+        { rcCalFunctionPitch,               msgPitchCenter,     _imageHome,         &RadioComponentController::_inputCenterWait,        NULL,                                           NULL },
+        { rcCalFunctionMax,                 msgSwitchMinMax,    _imageSwitchMinMax, &RadioComponentController::_inputSwitchMinMax,      &RadioComponentController::_advanceState,       NULL },
+        { rcCalFunctionMax,                 msgComplete,        _imageThrottleDown, NULL,                                               &RadioComponentController::_writeCalibration,   NULL },
+    };
+    bool badStep = false;
+    if (step < 0) {
+        badStep = true;
+    }
+    if (_px4Vehicle()) {
+        if (step >= (int)(sizeof(rgStateMachinePX4) / sizeof(rgStateMachinePX4[0]))) {
+            badStep = true;
+        }
+    } else {
+        if (step >= (int)(sizeof(rgStateMachineAPM) / sizeof(rgStateMachineAPM[0]))) {
+            badStep = true;
+        }
+    }
+    if (badStep) {
+        qWarning() << "Bad step value" << step;
+        step = 0;
+    }
+    const stateMachineEntry* stateMachine = _px4Vehicle() ? rgStateMachinePX4 : rgStateMachineAPM;
-    return &rgStateMachine[step];
+    return &stateMachine[step];
 }
 void RadioComponentController::_advanceState(void)
@@ -187,7 +240,7 @@ void RadioComponentController::_setupCurrentState(void)
    _setHelpImage(state->image);
-    _stickDetectChannel = _chanMax;
+    _stickDetectChannel = _chanMax();
    _stickDetectSettleStarted = false;
    _rcCalSaveCurrentValues();
@@ -196,53 +249,52 @@ void RadioComponentController::_setupCurrentState(void)
    _skipButton->setEnabled(state->skipFn != NULL);
 }
-/// @brief This routine is called whenever a raw value for an RC channel changes. It will call the input
+/// Connected to Vehicle::rcChannelsChanged signal
-/// function as specified by the state machine.
+void RadioComponentController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
-///     @param chan RC channel on which signal is coming from (0-based)
-///     @param fval Current value for channel
-void RadioComponentController::_remoteControlChannelRawChanged(int chan, float fval)
 {
-    if (chan >= 0 && chan <= _chanMax) {
+    int maxChannel = std::min(channelCount, _chanMax());
-        // We always update raw values
-        _rcRawValue[chan] = fval;
+    for (int channel=0; channel<maxChannel; channel++) {
-        emit channelRCValueChanged(chan, _rcRawValue[chan]);
+        int channelValue = pwmValues[channel];
-        // Signal attitude rc values to Qml if mapped
+        if (channelValue != -1) {
-        if (_rgChannelInfo[chan].function != rcCalFunctionMax) {
+            qCDebug(RadioComponentControllerLog) << "Raw value" << channel << channelValue;
-            switch (_rgChannelInfo[chan].function) {
+            _rcRawValue[channel] = channelValue;
+            emit channelRCValueChanged(channel, channelValue);
+            // Signal attitude rc values to Qml if mapped
+            if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
+                switch (_rgChannelInfo[channel].function) {
                case rcCalFunctionRoll:
-                    emit rollChannelRCValueChanged(_rcRawValue[chan]);
+                    emit rollChannelRCValueChanged(channelValue);
                    break;
                case rcCalFunctionPitch:
-                    emit pitchChannelRCValueChanged(_rcRawValue[chan]);
+                    emit pitchChannelRCValueChanged(channelValue);
                    break;
                case rcCalFunctionYaw:
-                    emit yawChannelRCValueChanged(_rcRawValue[chan]);
+                    emit yawChannelRCValueChanged(channelValue);
                    break;
                case rcCalFunctionThrottle:
-                    emit throttleChannelRCValueChanged(_rcRawValue[chan]);
+                    emit throttleChannelRCValueChanged(channelValue);
                    break;
                default:
                    break;
+                }
            }
-        }
+            if (_currentStep == -1) {
-        qCDebug(RadioComponentControllerLog) << "Raw value" << chan << fval;
+                if (_chanCount != channelCount) {
+                    _chanCount = channelCount;
-        if (_currentStep == -1) {
+                    emit channelCountChanged(_chanCount);
-            // Track the receiver channel count by keeping track of how many channels we see
+                }
-            if (chan + 1 > (int)_chanCount) {
+            } else {
-                _chanCount = chan + 1;
+                const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
-                emit channelCountChanged(_chanCount);
+                Q_ASSERT(state);
-            }
+                if (state->rcInputFn) {
-        }
+                    (this->*state->rcInputFn)(state->function, channel, channelValue);
+                }
-        if (_currentStep != -1) {
-            const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
-            Q_ASSERT(state);
-            if (state->rcInputFn) {
-                (this->*state->rcInputFn)(state->function, chan, fval);
            }
        }
    }
@@ -346,14 +398,14 @@ bool RadioComponentController::_stickSettleComplete(int value)
 void RadioComponentController::_inputStickDetect(enum rcCalFunctions function, int channel, int value)
 {
-    qCDebug(RadioComponentControllerLog) << "_inputStickDetect function:channel:value" << _rgFunctionInfo[function].parameterName << channel << value;
+    qCDebug(RadioComponentControllerLog) << "_inputStickDetect function:channel:value" << _functionInfo()[function].parameterName << channel << value;
    // If this channel is already used in a mapping we can't use it again
    if (_rgChannelInfo[channel].function != rcCalFunctionMax) {
        return;
    }
-    if (_stickDetectChannel == _chanMax) {
+    if (_stickDetectChannel == _chanMax()) {
        // We have not detected enough movement on a channel yet
        if (abs(_rcValueSave[channel] - value) > _rcCalMoveDelta) {
@@ -400,7 +452,7 @@ void RadioComponentController::_inputStickMin(enum rcCalFunctions function, int
        return;
    }
-    if (_stickDetectChannel == _chanMax) {
+    if (_stickDetectChannel == _chanMax()) {
        // Setup up to detect stick being pegged to extreme position
        if (_rgChannelInfo[channel].reversed) {
            if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
@@ -447,7 +499,7 @@ void RadioComponentController::_inputCenterWait(enum rcCalFunctions function, in
        return;
    }
-    if (_stickDetectChannel == _chanMax) {
+    if (_stickDetectChannel == _chanMax()) {
        // Sticks have not yet moved close enough to center
        if (abs(_rcCalPWMCenterPoint - value) < _rcCalRoughCenterDelta) {
@@ -499,7 +551,7 @@ void RadioComponentController::_skipFlaps(void)
            _rgChannelInfo[i].function = rcCalFunctionMax;
        }
    }
-    _rgFunctionChannelMapping[RadioComponentController::rcCalFunctionFlaps] = _chanMax;
+    _rgFunctionChannelMapping[RadioComponentController::rcCalFunctionFlaps] = _chanMax();
    // Skip over flap steps
    _currentStep += 2;
@@ -510,7 +562,7 @@ void RadioComponentController::_saveFlapsDown(void)
 {
    int channel = _rgFunctionChannelMapping[rcCalFunctionFlaps];
-    if (channel == _chanMax) {
+    if (channel == _chanMax()) {
        // Channel not yet mapped, still waiting for switch to move
        if (_unitTestMode) {
            emit nextButtonMessageBoxDisplayed();
@@ -552,7 +604,7 @@ void RadioComponentController::_inputFlapsUp(enum rcCalFunctions function, int c
        return;
    }
-    if (_stickDetectChannel == _chanMax) {
+    if (_stickDetectChannel == _chanMax()) {
        // Setup up to detect stick being pegged to extreme position
        if (_rgChannelInfo[channel].reversed) {
            if (value > _rcCalPWMCenterPoint + _rcCalMoveDelta) {
@@ -624,7 +676,7 @@ void RadioComponentController::_inputFlapsDetect(enum rcCalFunctions function, i
 void RadioComponentController::_resetInternalCalibrationValues(void)
 {
    // Set all raw channels to not reversed and center point values
-    for (int i=0; i<_chanMax; i++) {
+    for (int i=0; i<_chanMax(); i++) {
        struct ChannelInfo* info = &_rgChannelInfo[i];
        info->function = rcCalFunctionMax;
        info->reversed = false;
@@ -635,33 +687,35 @@ void RadioComponentController::_resetInternalCalibrationValues(void)
    // Initialize attitude function mapping to function channel not set
    for (size_t i=0; i<rcCalFunctionMax; i++) {
-        _rgFunctionChannelMapping[i] = _chanMax;
+        _rgFunctionChannelMapping[i] = _chanMax();
    }
-    // Reserve the existing Flight Mode switch settings channels so we don't re-use them
+    if (_px4Vehicle()) {
+        // Reserve the existing Flight Mode switch settings channels so we don't re-use them
-    static const rcCalFunctions rgFlightModeFunctions[] = {
-        rcCalFunctionModeSwitch,
-        rcCalFunctionPosCtlSwitch,
-        rcCalFunctionLoiterSwitch,
-        rcCalFunctionReturnSwitch };
-    static const size_t crgFlightModeFunctions = sizeof(rgFlightModeFunctions) / sizeof(rgFlightModeFunctions[0]);
-    for (size_t i=0; i < crgFlightModeFunctions; i++) {
+        static const rcCalFunctions rgFlightModeFunctions[] = {
-        QVariant value;
+            rcCalFunctionModeSwitch,
-        enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
+            rcCalFunctionPosCtlSwitch,
+            rcCalFunctionLoiterSwitch,
-        bool ok;
+            rcCalFunctionReturnSwitch };
-        int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->rawValue().toInt(&ok);
+        static const size_t crgFlightModeFunctions = sizeof(rgFlightModeFunctions) / sizeof(rgFlightModeFunctions[0]);
-        Q_ASSERT(ok);
+        for (size_t i=0; i < crgFlightModeFunctions; i++) {
-        // Parameter: 1-based channel, 0=not mapped
+            QVariant value;
-        // _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped
+            enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
-        if (switchChannel != 0) {
+            bool ok;
-            qCDebug(RadioComponentControllerLog) << "Reserving 0-based switch channel" << switchChannel - 1;
+            int switchChannel = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[curFunction].parameterName)->rawValue().toInt(&ok);
-            _rgFunctionChannelMapping[curFunction] = switchChannel - 1;
+            Q_ASSERT(ok);
-            _rgChannelInfo[switchChannel - 1].function = curFunction;
+            // Parameter: 1-based channel, 0=not mapped
+            // _rgFunctionChannelMapping: 0-based channel, _chanMax=not mapped
+            if (switchChannel != 0) {
+                qCDebug(RadioComponentControllerLog) << "Reserving 0-based switch channel" << switchChannel - 1;
+                _rgFunctionChannelMapping[curFunction] = switchChannel - 1;
+                _rgChannelInfo[switchChannel - 1].function = curFunction;
+            }
        }
    }
@@ -673,13 +727,13 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
 {
    // Initialize all function mappings to not set
-    for (int i=0; i<_chanMax; i++) {
+    for (int i=0; i<_chanMax(); i++) {
        struct ChannelInfo* info = &_rgChannelInfo[i];
        info->function = rcCalFunctionMax;
    }
    for (size_t i=0; i<rcCalFunctionMax; i++) {
-        _rgFunctionChannelMapping[i] = _chanMax;
+        _rgFunctionChannelMapping[i] = _chanMax();
    }
    // Pull parameters and update
@@ -691,7 +745,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
    bool convertOk;
-    for (int i = 0; i < _chanMax; ++i) {
+    for (int i = 0; i < _chanMax(); ++i) {
        struct ChannelInfo* info = &_rgChannelInfo[i];
        info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->rawValue().toInt(&convertOk);
@@ -712,12 +766,15 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
    for (int i=0; i<rcCalFunctionMax; i++) {
        int32_t paramChannel;
-        paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->rawValue().toInt(&convertOk);
+        const char* paramName = _functionInfo()[i].parameterName;
-        Q_ASSERT(convertOk);
+        if (paramName) {
+            paramChannel = getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(&convertOk);
-        if (paramChannel != 0) {
+            Q_ASSERT(convertOk);
-            _rgFunctionChannelMapping[i] = paramChannel - 1;
-            _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
+            if (paramChannel != 0) {
+                _rgFunctionChannelMapping[i] = paramChannel - 1;
+                _rgChannelInfo[paramChannel - 1].function = (enum rcCalFunctions)i;
+            }
        }
    }
@@ -732,7 +789,7 @@ void RadioComponentController::spektrumBindMode(int mode)
 /// @brief Validates the current settings against the calibration rules resetting values as necessary.
 void RadioComponentController::_validateCalibration(void)
 {
-    for (int chan = 0; chan<_chanMax; chan++) {
+    for (int chan = 0; chan<_chanMax(); chan++) {
        struct ChannelInfo* info = &_rgChannelInfo[chan];
        if (chan < _chanCount) {
@@ -790,7 +847,7 @@ void RadioComponentController::_writeCalibration(void)
    QString revTpl("RC%1_REV");
    // Note that the rc parameters are all float, so you must cast to float in order to get the right QVariant
-    for (int chan = 0; chan<_chanMax; chan++) {
+    for (int chan = 0; chan<_chanMax(); chan++) {
        struct ChannelInfo* info = &_rgChannelInfo[chan];
        int                 oneBasedChannel = chan + 1;
@@ -801,25 +858,40 @@ void RadioComponentController::_writeCalibration(void)
    }
    // Write function mapping parameters
+    bool functionMappingChanged = false;
    for (size_t i=0; i<rcCalFunctionMax; i++) {
        int32_t paramChannel;
-        if (_rgFunctionChannelMapping[i] == _chanMax) {
+        if (_rgFunctionChannelMapping[i] == _chanMax()) {
            // 0 signals no mapping
            paramChannel = 0;
        } else {
            // Note that the channel value is 1-based
            paramChannel = _rgFunctionChannelMapping[i] + 1;
        }
-        getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setRawValue(paramChannel);
+        const char* paramName = _functionInfo()[i].parameterName;
+        if (paramName) {
+            Fact* paramFact = getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName);
+            if (paramFact->rawValue().toInt() != paramChannel) {
+                functionMappingChanged = true;
+                getParameterFact(FactSystem::defaultComponentId, _functionInfo()[i].parameterName)->setRawValue(paramChannel);
+            }
+        }
    }
-    // If the RC_CHAN_COUNT parameter is available write the channel count
+    if (_px4Vehicle()) {
-    if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
+        // If the RC_CHAN_COUNT parameter is available write the channel count
-        getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
+        if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
+            getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
+        }
    }
    _stopCalibration();
    _setInternalCalibrationValuesFromParameters();
+    if (_vehicle->apmFirmware() && functionMappingChanged) {
+        emit functionMappingChangedAPMReboot();
+    }
 }
 /// @brief Starts the calibration process
@@ -865,7 +937,7 @@ void RadioComponentController::_stopCalibration(void)
 void RadioComponentController::_rcCalSaveCurrentValues(void)
 {
 	qCDebug(RadioComponentControllerLog) << "_rcCalSaveCurrentValues";
-    for (int i = 0; i < _chanMax; i++) {
+    for (int i = 0; i < _chanMax(); i++) {
        _rcValueSave[i] = _rcRawValue[i];
    }
 }
@@ -936,7 +1008,7 @@ int RadioComponentController::channelCount(void)
 int RadioComponentController::rollChannelRCValue(void)
 {    
-    if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax()) {
        return _rcRawValue[rcCalFunctionRoll];
    } else {
        return 1500;
@@ -945,7 +1017,7 @@ int RadioComponentController::rollChannelRCValue(void)
 int RadioComponentController::pitchChannelRCValue(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax()) {
        return _rcRawValue[rcCalFunctionPitch];
    } else {
        return 1500;
@@ -954,7 +1026,7 @@ int RadioComponentController::pitchChannelRCValue(void)
 int RadioComponentController::yawChannelRCValue(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax()) {
        return _rcRawValue[rcCalFunctionYaw];
    } else {
        return 1500;
@@ -963,7 +1035,7 @@ int RadioComponentController::yawChannelRCValue(void)
 int RadioComponentController::throttleChannelRCValue(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax()) {
        return _rcRawValue[rcCalFunctionThrottle];
    } else {
        return 1500;
@@ -972,27 +1044,27 @@ int RadioComponentController::throttleChannelRCValue(void)
 bool RadioComponentController::rollChannelMapped(void)
 {
-    return _rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax;
+    return _rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax();
 }
 bool RadioComponentController::pitchChannelMapped(void)
 {
-    return _rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax;
+    return _rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax();
 }
 bool RadioComponentController::yawChannelMapped(void)
 {
-    return _rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax;
+    return _rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax();
 }
 bool RadioComponentController::throttleChannelMapped(void)
 {
-    return _rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax;
+    return _rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax();
 }
 bool RadioComponentController::rollChannelReversed(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionRoll] != _chanMax()) {
        return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionRoll]].reversed;
    } else {
        return false;
@@ -1001,7 +1073,7 @@ bool RadioComponentController::rollChannelReversed(void)
 bool RadioComponentController::pitchChannelReversed(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionPitch] != _chanMax()) {
        return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionPitch]].reversed;
    } else {
        return false;
@@ -1010,7 +1082,7 @@ bool RadioComponentController::pitchChannelReversed(void)
 bool RadioComponentController::yawChannelReversed(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionYaw] != _chanMax()) {
        return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionYaw]].reversed;
    } else {
        return false;
@@ -1019,7 +1091,7 @@ bool RadioComponentController::yawChannelReversed(void)
 bool RadioComponentController::throttleChannelReversed(void)
 {
-    if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax) {
+    if (_rgFunctionChannelMapping[rcCalFunctionThrottle] != _chanMax()) {
        return _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed;
    } else {
        return false;
@@ -1054,3 +1126,18 @@ void RadioComponentController::copyTrims(void)
 {
    _uas->startCalibration(UASInterface::StartCalibrationCopyTrims);
 }
+bool RadioComponentController::_px4Vehicle(void) const
+{
+    return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4;
+}
+const struct RadioComponentController::FunctionInfo* RadioComponentController::_functionInfo(void) const
+{
+    return _px4Vehicle() ? _rgFunctionInfoPX4 : _rgFunctionInfoAPM;
+}
+int RadioComponentController::_chanMax(void) const
+{
+    return _px4Vehicle() ? _chanMaxPX4 : _chanMaxAPM;
+}
--- a/src/AutoPilotPlugins/PX4/RadioComponentController.h
+++ b/src/AutoPilotPlugins/PX4/RadioComponentController.h
@@ -140,9 +140,12 @@ signals:
    // @brief Signalled when in unit test mode and a message box should be displayed by the next button
    void nextButtonMessageBoxDisplayed(void);
+    // Signaled to QML to indicator reboot is required
+    void functionMappingChangedAPMReboot(void);
 private slots:
-    void _remoteControlChannelRawChanged(int chan, float val);
+    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
 private:
    /// @brief These identify the various controls functions. They are also used as indices into the _rgFunctioInfo
    /// array.
@@ -209,7 +212,9 @@ private:
    int _currentStep;  ///< Current step of state machine
-    const struct stateMachineEntry* _getStateMachineEntry(int step);
+    const struct stateMachineEntry* _getStateMachineEntry(int step) const;
+    const struct FunctionInfo* _functionInfo(void) const;
+    bool _px4Vehicle(void) const;
    void _advanceState(void);
    void _setupCurrentState(void);
@@ -251,6 +256,8 @@ private:
    void _storeSettings(void);
    void _signalAllAttiudeValueChanges(void);
+    int _chanMax(void) const;
    // @brief Called by unit test code to set the mode to unit testing
    void _setUnitTestMode(void){ _unitTestMode = true; }
@@ -279,16 +286,20 @@ private:
    static const int _updateInterval;   ///< Interval for ui update timer
-    static const struct FunctionInfo _rgFunctionInfo[rcCalFunctionMax]; ///< Information associated with each function.
+    static const struct FunctionInfo _rgFunctionInfoAPM[rcCalFunctionMax]; ///< Information associated with each function, PX4 firmware
+    static const struct FunctionInfo _rgFunctionInfoPX4[rcCalFunctionMax]; ///< Information associated with each function, APM firmware
    int _rgFunctionChannelMapping[rcCalFunctionMax];                    ///< Maps from rcCalFunctions to channel index. _chanMax indicates channel not set for this function.
    static const int _attitudeControls = 5;
    int _chanCount;                     ///< Number of actual rc channels available
-    static const int _chanMax = 18;     ///< Maximum number of supported rc channels
+    static const int _chanMaxPX4 = 18;  ///< Maximum number of supported rc channels, PX4 Firmware
-    static const int _chanMinimum = 5;  ///< Minimum numner of channels required to run PX4
+    static const int _chanMaxAPM = 14;  ///< Maximum number of supported rc channels, APM firmware
+    static const int _chanMaxAny = 18;  ///< Maximum number of support rc channels by this implementation
+    static const int _chanMinimum = 5;  ///< Minimum numner of channels required to run
-    struct ChannelInfo _rgChannelInfo[_chanMax];    ///< Information associated with each rc channel
+    struct ChannelInfo _rgChannelInfo[_chanMaxAny];    ///< Information associated with each rc channel
    enum rcCalStates _rcCalState;       ///< Current calibration state
    int _rcCalStateCurrentChannel;      ///< Current channel being worked on in rcCalStateIdentify and rcCalStateDetectInversion
@@ -306,9 +317,9 @@ private:
    static const int _rcCalSettleDelta;
    static const int _rcCalMinDelta;
-    int _rcValueSave[_chanMax];        ///< Saved values prior to detecting channel movement
+    int _rcValueSave[_chanMaxAny];        ///< Saved values prior to detecting channel movement
-    int _rcRawValue[_chanMax];         ///< Current set of raw channel values
+    int _rcRawValue[_chanMaxAny];         ///< Current set of raw channel values
    int     _stickDetectChannel;
    int     _stickDetectInitialValue;

--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -99,7 +99,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
            _airframeComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
-            _radioComponent = new RadioComponent(_vehicle, this);
+            _radioComponent = new PX4RadioComponent(_vehicle, this);
            Q_CHECK_PTR(_radioComponent);
            _radioComponent->setupTriggerSignals();
            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));

--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
@@ -27,7 +27,7 @@
 #include "AutoPilotPlugin.h"
 #include "PX4AirframeLoader.h"
 #include "AirframeComponent.h"
-#include "RadioComponent.h"
+#include "PX4RadioComponent.h"
 #include "FlightModesComponent.h"
 #include "SensorsComponent.h"
 #include "SafetyComponent.h"
@@ -53,7 +53,7 @@ public:
    // These methods should only be used by objects within the plugin
    AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
-    RadioComponent*         radioComponent(void)        { return _radioComponent; }
+    PX4RadioComponent*      radioComponent(void)        { return _radioComponent; }
    FlightModesComponent*   flightModesComponent(void)  { return _flightModesComponent; }
    SensorsComponent*       sensorsComponent(void)      { return _sensorsComponent; }
    SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
@@ -67,7 +67,7 @@ private:
    PX4AirframeLoader*      _airframeFacts;
    QVariantList            _components;
    AirframeComponent*      _airframeComponent;
-    RadioComponent*         _radioComponent;
+    PX4RadioComponent*      _radioComponent;
    FlightModesComponent*   _flightModesComponent;
    SensorsComponent*       _sensorsComponent;
    SafetyComponent*        _safetyComponent;

--- a/src/AutoPilotPlugins/PX4/RadioComponent.cc
+++ b/src/AutoPilotPlugins/PX4/RadioComponent.cc
@@ -21,42 +21,38 @@
 ======================================================================*/
-/// @file
+#include "PX4RadioComponent.h"
-///     @author Don Gagne <don@thegagnes.com>
-#include "RadioComponent.h"
-#include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
-RadioComponent::RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+PX4RadioComponent::PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
    PX4Component(vehicle, autopilot, parent),
    _name(tr("Radio"))
 {
 }
-QString RadioComponent::name(void) const
+QString PX4RadioComponent::name(void) const
 {
    return _name;
 }
-QString RadioComponent::description(void) const
+QString PX4RadioComponent::description(void) const
 {
    return tr("The Radio Component is used to setup which channels on your RC Transmitter you will use for each vehicle control such as Roll, Pitch, Yaw and Throttle. "
              "It also allows you to assign switches and dials to the various flight modes. "
              "Prior to flight you must also calibrate the extents for all of your channels.");
 }
-QString RadioComponent::iconResource(void) const
+QString PX4RadioComponent::iconResource(void) const
 {
    return "/qmlimages/RadioComponentIcon.png";
 }
-bool RadioComponent::requiresSetup(void) const
+bool PX4RadioComponent::requiresSetup(void) const
 {
    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
-bool RadioComponent::setupComplete(void) const
+bool PX4RadioComponent::setupComplete(void) const
 {
    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
        // The best we can do to detect the need for a radio calibration is look for attitude
@@ -73,7 +69,7 @@ bool RadioComponent::setupComplete(void) const
    return true;
 }
-QString RadioComponent::setupStateDescription(void) const
+QString PX4RadioComponent::setupStateDescription(void) const
 {
    const char* stateDescription;
@@ -85,7 +81,7 @@ QString RadioComponent::setupStateDescription(void) const
    return QString(stateDescription);
 }
-QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
+QStringList PX4RadioComponent::setupCompleteChangedTriggerList(void) const
 {
    QStringList triggers;
@@ -94,7 +90,7 @@ QStringList RadioComponent::setupCompleteChangedTriggerList(void) const
    return triggers;
 }
-QStringList RadioComponent::paramFilterList(void) const
+QStringList PX4RadioComponent::paramFilterList(void) const
 {
    QStringList list;
@@ -103,21 +99,20 @@ QStringList RadioComponent::paramFilterList(void) const
    return list;
 }
-QUrl RadioComponent::setupSource(void) const
+QUrl PX4RadioComponent::setupSource(void) const
 {
    return QUrl::fromUserInput("qrc:/qml/RadioComponent.qml");
 }
-QUrl RadioComponent::summaryQmlSource(void) const
+QUrl PX4RadioComponent::summaryQmlSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/RadioComponentSummary.qml");
+    return QUrl::fromUserInput("qrc:/qml/PX4RadioComponentSummary.qml");
 }
-QString RadioComponent::prerequisiteSetup(void) const
+QString PX4RadioComponent::prerequisiteSetup(void) const
 {
    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
-        Q_ASSERT(plugin);
        if (!plugin->airframeComponent()->setupComplete()) {
            return plugin->airframeComponent()->name();

--- a/src/AutoPilotPlugins/PX4/RadioComponent.h
+++ b/src/AutoPilotPlugins/PX4/RadioComponent.h
@@ -21,22 +21,17 @@
 ======================================================================*/
-#ifndef RADIOCOMPONENT_H
+#ifndef PX4RadioComponent_H
-#define RADIOCOMPONENT_H
+#define PX4RadioComponent_H
 #include "PX4Component.h"
-/// @file
+class PX4RadioComponent : public PX4Component
-///     @brief The Radio VehicleComponent is used to calibrate the trasmitter and assign function mapping
-///             to channels.
-///     @author Don Gagne <don@thegagnes.com>
-class RadioComponent : public PX4Component
 {
    Q_OBJECT
 public:
-    RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    PX4RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
    // Virtuals from PX4Component
    virtual QStringList setupCompleteChangedTriggerList(void) const;

--- a/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/RadioComponentSummary.qml
--- a/src/comm/LinkManager.h
+++ b/src/comm/LinkManager.h
@@ -171,6 +171,11 @@ public:
    // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
    void shutdown(void);
+#ifdef QT_DEBUG
+    // Only used by unit test tp restart after a shutdown
+    void restart(void) { setConnectionsAllowed(); }
+#endif
    /// @return true: specified link is an autoconnect link
    bool isAutoconnectLink(LinkInterface* link);

--- a/src/qgcunittest/PX4RCCalibrationTest.cc
+++ b/src/qgcunittest/PX4RCCalibrationTest.cc
@@ -21,7 +21,7 @@
 ======================================================================*/
-#include "PX4RCCalibrationTest.h"
+#include "RadioConfigTest.h"
 #include "RadioComponentController.h"
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
@@ -67,7 +67,7 @@ const int RadioConfigTest::_testMinValue = RadioComponentController::_rcCalPWMDe
 const int RadioConfigTest::_testMaxValue = RadioComponentController::_rcCalPWMDefaultMaxValue - 10;
 const int RadioConfigTest::_testCenterValue = RadioConfigTest::_testMinValue + ((RadioConfigTest::_testMaxValue - RadioConfigTest::_testMinValue) / 2);
-const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettings[RadioConfigTest::_availableChannels] = {
+const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4] = {
 	// Function										Min                 Max                 #  Reversed
 	// Channel 0 : Not mapped to function, Simulate invalid Min/Max
@@ -104,9 +104,9 @@ const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSetting
 	{ RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
 };
-// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entires. For some reason I couldn't get the compiler to do the
+// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
 // right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
-const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidate[RadioComponentController::_chanMax] = {
+const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4] = {
    // Function										Min Value									Max Value									Trim Value										Reversed
    // Channels 0: not mapped and should be set to defaults
@@ -138,6 +138,62 @@ const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSetting
    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
 };
+const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM] = {
+    // Function										Min                 Max                 #  Reversed
+    // Channel 0 : Not mapped to function, Simulate invalid Min/Max
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testCenterValue,   0, false },
+    // Channels 1-4: Mapped to attitude control function
+    { RadioComponentController::rcCalFunctionRoll,			_testMinValue,      _testMaxValue,      0, true },
+    { RadioComponentController::rcCalFunctionPitch,			_testMinValue,      _testMaxValue,      0, false },
+    { RadioComponentController::rcCalFunctionYaw,			_testMinValue,      _testMaxValue,      0, true },
+    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue,      _testMaxValue,      0,  false },
+    // Channels 5-11: Not mapped to function, Simulate invalid Min/Max, since available channel Min/Max is still shown.
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,   _testCenterValue,   0,	false },
+    // Channel 12 : Not mapped to function, Simulate invalid Min, valid Max
+    { RadioComponentController::rcCalFunctionMax,			_testCenterValue,	_testMaxValue,      0,  false },
+    // Channel 13 : Not mapped to function, Simulate valid Min, invalid Max
+    { RadioComponentController::rcCalFunctionMax,           _testMinValue,      _testCenterValue,   0,	false },
+};
+// Note the: 1500/*RadioComponentController::_rcCalPWMCenterPoint*/ entries. For some reason I couldn't get the compiler to do the
+// right thing with the constant. So I just hacked inthe real value instead of fighting with it any longer.
+const struct RadioConfigTest::ChannelSettings RadioConfigTest::_rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM] = {
+    // Function										Min Value									Max Value									Trim Value										Reversed
+    // Channels 0: not mapped and should be set to defaults
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    // Channels 1-4: Mapped to attitude control function
+    { RadioComponentController::rcCalFunctionRoll,			_testMinValue, _testMaxValue, _testCenterValue, true },
+    { RadioComponentController::rcCalFunctionPitch,			_testMinValue, _testMaxValue, _testCenterValue, false },
+    { RadioComponentController::rcCalFunctionYaw,			_testMinValue, _testMaxValue, _testCenterValue, true },
+    { RadioComponentController::rcCalFunctionThrottle,		_testMinValue, _testMaxValue, _testMinValue,    false },
+    // Channels 5-11: not mapped and should be set to defaults
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    // Channels 12-13 are not mapped and should be set to defaults
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+    { RadioComponentController::rcCalFunctionMax,			RadioComponentController::_rcCalPWMDefaultMinValue,	RadioComponentController::_rcCalPWMDefaultMaxValue,	1500/*RadioComponentController::_rcCalPWMCenterPoint*/,         false },
+};
 RadioConfigTest::RadioConfigTest(void) :
    _calWidget(NULL),
    _controller(NULL)
@@ -145,11 +201,9 @@ RadioConfigTest::RadioConfigTest(void) :
 }
-void RadioConfigTest::init(void)
+void RadioConfigTest::_init(MAV_AUTOPILOT firmwareType)
 {
-    UnitTest::init();
+    _connectMockLink(firmwareType);
-    _connectMockLink();
    _autopilot = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->autopilotPlugin();
    Q_ASSERT(_autopilot);
@@ -186,43 +240,6 @@ void RadioConfigTest::cleanup(void)
    UnitTest::cleanup();
 }
-/// @brief Test for correct behavior in determining minimum numbers of channels for flight.
-void RadioConfigTest::_minRCChannels_test(void)
-{
-    // Next button won't be enabled until we see the minimum number of channels.
-    for (int chan=0; chan<RadioComponentController::_chanMinimum; chan++) {
-        _mockLink->emitRemoteControlChannelRawChanged(chan, (float)RadioComponentController::_rcCalPWMCenterPoint);
-        // We use _chanCount internally so we should validate it
-        QCOMPARE(_controller->_chanCount, chan+1);
-        // Validate Next button state
-        _controller->nextButtonClicked();
-        bool signalFound = _multiSpyNextButtonMessageBox->waitForSignalByIndex(0, 200);
-        if (chan == RadioComponentController::_chanMinimum - 1) {
-            // Last channel should trigger Calibration available
-            QCOMPARE(signalFound, false);
-            QCOMPARE(_controller->_currentStep, 0);
-        } else {
-            // Still less than the minimum channels. Next button should show message box. Calibration should not start.
-            QCOMPARE(signalFound, true);
-            QCOMPARE(_controller->_currentStep, -1);
-        }
-        _multiSpyNextButtonMessageBox->clearAllSignals();
-        // The following test code no longer works since view update doesn't happens until parameters are received.
-        // Leaving code here because RC Cal could be restructured to handle this case at some point.
-#if 0
-        // Only available channels should have visible widget. A ui update cycle needs to have passed so we wait a little.
-        QTest::qWait(RadioComponentController::_updateInterval * 2);
-        for (int chanWidget=0; chanWidget<RadioComponentController::_chanMax; chanWidget++) {
-            qCDebug(RadioConfigTestLog) << _rgValueWidget[chanWidget]->objectName() << chanWidget << chan;
-            QCOMPARE(_rgValueWidget[chanWidget]->isVisible(), !!(chanWidget <= chan));
-        }
-#endif
-    }
-}
 void RadioConfigTest::_beginCalibration(void)
 {
    CHK_BUTTONS(nextButtonMask | cancelButtonMask);
@@ -261,13 +278,13 @@ void RadioConfigTest::_stickMoveAutoStep(const char* functionStr, enum RadioComp
    int channel = _rgFunctionChannelMap[function];
    int saveStep = _controller->_currentStep;
-    bool reversed = _rgChannelSettings[channel].reversed;
+    bool reversed = _channelSettings()[channel].reversed;
    if (!identifyStep && direction != moveToCenter) {
        // We have already identified the function channel mapping. Move other channels around to make sure there is no impact.
        int otherChannel = channel + 1;
-        if (otherChannel >= RadioComponentController::_chanMax) {
+        if (otherChannel >= _chanMax()) {
            otherChannel = 0;
        }
@@ -306,9 +323,9 @@ void RadioConfigTest::_switchMinMaxStep(void)
    _mockLink->emitRemoteControlChannelRawChanged(0, (float)(RadioComponentController::_rcCalPWMValidMaxValue - 1));
    // Send min/max values switch channels
-    for (int chan=0; chan<_availableChannels; chan++) {
+    for (int chan=0; chan<_chanMax(); chan++) {
-        _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMin);
+        _mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMin);
-        _mockLink->emitRemoteControlChannelRawChanged(chan, _rgChannelSettings[chan].rcMax);
+        _mockLink->emitRemoteControlChannelRawChanged(chan, _channelSettings()[chan].rcMax);
    }
    _channelHomePosition();
@@ -325,7 +342,7 @@ void RadioConfigTest::_flapsDetectStep(void)
    qCDebug(RadioConfigTestLog) << "_flapsDetectStep channel" << channel;
    // Test code can't handle reversed flaps channel
-    Q_ASSERT(!_rgChannelSettings[channel].reversed);
+    Q_ASSERT(!_channelSettings()[channel].reversed);
    CHK_BUTTONS(nextButtonMask | cancelButtonMask | skipButtonMask);
@@ -367,8 +384,10 @@ void RadioConfigTest::_switchSelectAutoStep(const char* functionStr, RadioCompon
    QCOMPARE(_controller->_currentStep, saveStep + 1);
 }
-void RadioConfigTest::_fullCalibration_test(void)
+void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
 {
+    _init(firmwareType);
    // IMPORTANT NOTE: We used channels 1-5 for attitude mapping in the test below.
    // MockLink.params file cannot have flight mode switches mapped to those channels.
    // If it does it will cause errors since the stick will not be detetected where
@@ -380,16 +399,17 @@ void RadioConfigTest::_fullCalibration_test(void)
        bool found = false;
        // If we are mapping this function during cal set it into _rgFunctionChannelMap
-        for (int channel=0; channel<RadioConfigTest::_availableChannels; channel++) {
+        for (int channel=0; channel<_chanMax(); channel++) {
-            if (_rgChannelSettings[channel].function == function) {
+            if (_channelSettings()[channel].function == function) {
-                // First make sure this function isn't being use for a switch
+                if (_px4Vehicle()) {
+                    // Make sure this function isn't being use for a switch
-                QStringList switchList;
+                    QStringList switchList;
-                switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
+                    switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
-                foreach (QString switchParam, switchList) {
+                    foreach (QString switchParam, switchList) {
-                    Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
+                        Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
+                    }
                }
                _rgFunctionChannelMap[function] = channel;
@@ -401,12 +421,17 @@ void RadioConfigTest::_fullCalibration_test(void)
        // If we aren't mapping this function during calibration, set it to the previous setting
        if (!found) {
-            _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->rawValue().toInt();
+            const char* paramName = _functionInfo()[function].parameterName;
-            qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
+            if (paramName) {
-            if (_rgFunctionChannelMap[function] == 0) {
+                _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
-                _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
+                qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
+                if (_rgFunctionChannelMap[function] == 0) {
+                    _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
+                } else {
+                    _rgFunctionChannelMap[function]--;   // parameter is 1-based, _rgFunctionChannelMap is not
+                }
            } else {
-                _rgFunctionChannelMap[function]--;   // parameter is 1-based, _rgFunctionChannelMap is not
+                _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
            }
        }
    }
@@ -424,21 +449,34 @@ void RadioConfigTest::_fullCalibration_test(void)
    _stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToMin, false /* not identify step */);
    _stickMoveAutoStep("Pitch", RadioComponentController::rcCalFunctionPitch, moveToCenter, false /* not identify step */);
    _switchMinMaxStep();
-    _flapsDetectStep();
+    if (firmwareType == MAV_AUTOPILOT_PX4) {
-    _stickMoveAutoStep("Flaps", RadioComponentController::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
+        _flapsDetectStep();
-    _switchSelectAutoStep("Aux1", RadioComponentController::rcCalFunctionAux1);
+        _stickMoveAutoStep("Flaps", RadioComponentController::rcCalFunctionFlaps, moveToMin, false /* not identify step */);
-    _switchSelectAutoStep("Aux2", RadioComponentController::rcCalFunctionAux2);
+        _switchSelectAutoStep("Aux1", RadioComponentController::rcCalFunctionAux1);
+        _switchSelectAutoStep("Aux2", RadioComponentController::rcCalFunctionAux2);
+    }
    // One more click and the parameters should get saved
    _controller->nextButtonClicked();
    _validateParameters();
 }
+void RadioConfigTest::_fullCalibration_px4_test(void)
+{
+    _fullCalibrationWorker(MAV_AUTOPILOT_PX4);
+}
+void RadioConfigTest::_fullCalibration_apm_test(void)
+{
+    _fullCalibrationWorker(MAV_AUTOPILOT_ARDUPILOTMEGA);
+}
 /// @brief Sets rc input to Throttle down home position. Centers all other channels.
 void RadioConfigTest::_channelHomePosition(void)
 {
    // Initialize available channels to center point.
-    for (int i=0; i<_availableChannels; i++) {
+    for (int i=0; i<_chanMax(); i++) {
        _mockLink->emitRemoteControlChannelRawChanged(i, (float)RadioComponentController::_rcCalPWMCenterPoint);
    }
@@ -465,20 +503,23 @@ void RadioConfigTest::_validateParameters(void)
            expectedParameterValue = chanIndex + 1; // 1-based parameter value
        }
-        qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt();
+        const char* paramName = _functionInfo()[chanFunction].parameterName;
-        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedParameterValue);
+        if (paramName) {
+            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
+        }
    }
    // Validate the channel settings. Note the channels are 1-based in parameter names.
-    for (int chan = 0; chan<RadioComponentController::_chanMax; chan++) {
+    for (int chan = 0; chan<_chanMax(); chan++) {
        int oneBasedChannel = chan + 1;
        bool convertOk;
        // Required channels have min/max set on them. Remaining channels are left to default.
-		int rcMinExpected = _rgChannelSettingsValidate[chan].rcMin;
+        int rcMinExpected = _channelSettingsValidate()[chan].rcMin;
-		int rcMaxExpected = _rgChannelSettingsValidate[chan].rcMax;
+        int rcMaxExpected = _channelSettingsValidate()[chan].rcMax;
-		int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
+        int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
-        bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
+        bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
        QCOMPARE(convertOk, true);
@@ -507,7 +548,35 @@ void RadioConfigTest::_validateParameters(void)
        } else {
            expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
        }
-        // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[RadioComponentController::_rgFunctionInfo[chanFunction].parameterName].toInt();
+        const char* paramName = _functionInfo()[chanFunction].parameterName;
-        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedValue);
+        if (paramName) {
+            // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
+            QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
+        }
    }
 }
+bool RadioConfigTest::_px4Vehicle(void) const
+{
+    return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4;
+}
+const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettings(void) const
+{
+    return _px4Vehicle() ? _rgChannelSettingsPX4 : _rgChannelSettingsAPM;
+}
+const struct RadioConfigTest::ChannelSettings* RadioConfigTest::_channelSettingsValidate(void) const
+{
+    return _px4Vehicle() ? _rgChannelSettingsValidatePX4 : _rgChannelSettingsValidateAPM;
+}
+const struct RadioComponentController::FunctionInfo* RadioConfigTest::_functionInfo(void) const
+{
+    return _px4Vehicle() ? RadioComponentController::_rgFunctionInfoPX4 : RadioComponentController::_rgFunctionInfoAPM;
+}
+int RadioConfigTest::_chanMax(void) const
+{
+    return _px4Vehicle() ? RadioComponentController::_chanMaxPX4 : RadioComponentController::_chanMaxAPM;
+}
--- a/src/qgcunittest/PX4RCCalibrationTest.h
+++ b/src/qgcunittest/PX4RCCalibrationTest.h
@@ -47,12 +47,11 @@ public:
    RadioConfigTest(void);
 private slots:
-    void init(void);
    void cleanup(void);
-    void _minRCChannels_test(void);
+    void _fullCalibration_px4_test(void);
-    void _fullCalibration_test(void);
+    void _fullCalibration_apm_test(void);
 private:
    /// @brief Modes to run worker functions
    enum TestMode {
@@ -67,15 +66,6 @@ private:
        moveToCenter,
    };
-    void _channelHomePosition(void);
-    void _minRCChannels(void);
-    void _beginCalibration(void);
-    void _stickMoveWaitForSettle(int channel, int value);
-    void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
-    void _switchMinMaxStep(void);
-    void _flapsDetectStep(void);
-    void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
    enum {
        validateMinMaxMask =    1 << 0,
        validateTrimsMask =     1 << 1,
@@ -85,12 +75,28 @@ private:
    };
    struct ChannelSettings {
-		int function;
+        int function;
        int rcMin;
        int rcMax;
        int rcTrim;
        int reversed;
    };
+    void _init(MAV_AUTOPILOT firmwareType);
+    void _channelHomePosition(void);
+    void _minRCChannels(void);
+    void _beginCalibration(void);
+    void _stickMoveWaitForSettle(int channel, int value);
+    void _stickMoveAutoStep(const char* functionStr, enum RadioComponentController::rcCalFunctions function, enum MoveToDirection direction, bool identifyStep);
+    void _switchMinMaxStep(void);
+    void _flapsDetectStep(void);
+    void _switchSelectAutoStep(const char* functionStr, RadioComponentController::rcCalFunctions function);
+    bool _px4Vehicle(void) const;
+    const struct RadioComponentController::FunctionInfo* _functionInfo(void) const;
+    const struct ChannelSettings* _channelSettings(void) const;
+    const struct ChannelSettings* _channelSettingsValidate(void) const;
+    void _fullCalibrationWorker(MAV_AUTOPILOT firmwareType);
+    int _chanMax(void) const;
    void _validateParameters(void);
@@ -113,12 +119,13 @@ private:
    static const int _testMaxValue;
    static const int _testCenterValue;
-	static const int _availableChannels = 18;	///< Simulate 18 channel RC Transmitter
    static const int _stickSettleWait;
-    static const struct ChannelSettings _rgChannelSettings[_availableChannels];
+    static const struct ChannelSettings _rgChannelSettingsPX4[RadioComponentController::_chanMaxPX4];
-    static const struct ChannelSettings _rgChannelSettingsValidate[RadioComponentController::_chanMax];
+    static const struct ChannelSettings _rgChannelSettingsAPM[RadioComponentController::_chanMaxAPM];
+    static const struct ChannelSettings _rgChannelSettingsValidatePX4[RadioComponentController::_chanMaxPX4];
+    static const struct ChannelSettings _rgChannelSettingsValidateAPM[RadioComponentController::_chanMaxAPM];
 	int _rgFunctionChannelMap[RadioComponentController::rcCalFunctionMax];
    RadioComponentController*   _controller;