Auto connect support

- Pervasive change to automatically connect to known board types
- Lots of additional changes along with this:
- More exposure of objects/properties to Qml
- Much restructuring in LinkManager and LinkManager clients

qgroundcontrol.pro

@@ -270,7 +270,6 @@ HEADERS += \
     src/QmlControls/QGCQGeoCoordinate.h \
     src/QmlControls/QGroundControlQmlGlobal.h \
     src/QmlControls/QmlObjectListModel.h \
-    src/SerialPortIds.h \
     src/uas/FileManager.h \
     src/uas/UAS.h \
     src/uas/UASInterface.h \

qgroundcontrol.qrc

@@ -28,7 +28,6 @@
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
         <file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
-
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
@@ -42,7 +41,6 @@
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
         <file alias="QGroundControl/Controls/QGCButton.qml">src/QmlControls/QGCButton.qml</file>
-        <file alias="QGroundControl/Controls/QGCCanvas.qml">src/QmlControls/QGCCanvas.qml</file>
         <file alias="QGroundControl/Controls/QGCCheckBox.qml">src/QmlControls/QGCCheckBox.qml</file>
         <file alias="QGroundControl/Controls/QGCColoredImage.qml">src/QmlControls/QGCColoredImage.qml</file>
         <file alias="QGroundControl/Controls/QGCComboBox.qml">src/QmlControls/QGCComboBox.qml</file>
@@ -62,20 +60,17 @@
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
-
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
         <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">src/FactSystem/FactControls/FactLabel.qml</file>
         <file alias="QGroundControl/FactControls/FactPanel.qml">src/FactSystem/FactControls/FactPanel.qml</file>
         <file alias="QGroundControl/FactControls/FactTextField.qml">src/FactSystem/FactControls/FactTextField.qml</file>
         <file alias="QGroundControl/FactControls/qmldir">src/FactSystem/FactControls/qmldir</file>
-
         <file alias="QGroundControl/FlightDisplay/FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewMap.qml">src/FlightDisplay/FlightDisplayViewMap.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewVideo.qml">src/FlightDisplay/FlightDisplayViewVideo.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlightDisplayViewWidgets.qml">src/FlightDisplay/FlightDisplayViewWidgets.qml</file>
         <file alias="QGroundControl/FlightDisplay/qmldir">src/FlightDisplay/qmldir</file>
-
         <file alias="QGroundControl/FlightMap/FlightMap.qml">src/FlightMap/FlightMap.qml</file>
         <file alias="QGroundControl/FlightMap/MissionItemIndicator.qml">src/FlightMap/MapItems/MissionItemIndicator.qml</file>
         <file alias="QGroundControl/FlightMap/MissionItemView.qml">src/FlightMap/MapItems/MissionItemView.qml</file>
@@ -90,10 +85,8 @@
         <file alias="QGroundControl/FlightMap/QGCVideoBackground.qml">src/FlightMap/QGCVideoBackground.qml</file>
         <file alias="QGroundControl/FlightMap/qmldir">src/FlightMap/qmldir</file>
         <file alias="QGroundControl/FlightMap/VehicleMapItem.qml">src/FlightMap/MapItems/VehicleMapItem.qml</file>
-
         <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="RadioComponentSummary.qml">src/AutoPilotPlugins/PX4/RadioComponentSummary.qml</file>

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -139,7 +139,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
         QGC::SLEEP::usleep(500);
         qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    qgcApp()->toolbox()->linkManager()->disconnectAll();
+    qgcApp()->toolbox()->linkManager()->disconnectAll(false /* disconnectAutoconnectLink */);
     qgcApp()->restoreOverrideCursor();
 }
 

src/HomePositionManager.cc

@@ -50,14 +50,13 @@ HomePositionManager::HomePositionManager(QGCApplication* app)
     , homeLon(8.549444)
     , homeAlt(470.0)
 {
-
+    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
 }
 
 void HomePositionManager::setToolbox(QGCToolbox *toolbox)
 {
     QGCTool::setToolbox(toolbox);
 
-    qmlRegisterUncreatableType<HomePositionManager> ("QGroundControl", 1, 0, "HomePositionManager", "Reference only");
 
     _loadSettings();
 }

src/QmlControls/DropButton.qml

@@ -184,7 +184,7 @@ Item {
         id:         dropDownItem
         visible:    checked
 
-        QGCCanvas {
+        Canvas {
             id:             arrowCanvas
             anchors.fill:   parent
 

src/QmlControls/QGCCanvas.qml

-import QtQuick 2.2
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
-
-import QGroundControl.Palette 1.0
-import QGroundControl.ScreenTools 1.0
-
-/// Canvas has some sort of bug in it which can cause it to not paint when top level Views
-/// are switched. In order to fix this we ahve a signal hacked into ScreenTools to force
-/// a repaint.
-Canvas {
-    id: _root
-
-    Connections {
-        target: ScreenTools
-
-        onRepaintRequested: _root.requestPaint()
-    }
-}

src/QmlControls/QGroundControl.Controls.qmldir

@@ -9,7 +9,6 @@ QGCComboBox         1.0 QGCComboBox.qml
 QGCColoredImage     1.0 QGCColoredImage.qml
 QGCToolBarButton    1.0 QGCToolBarButton.qml
 QGCMovableItem      1.0 QGCMovableItem.qml
-QGCCanvas           1.0 QGCCanvas.qml
 
 SubMenuButton       1.0 SubMenuButton.qml
 IndicatorButton     1.0 IndicatorButton.qml

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -33,6 +33,8 @@ static const char* kQmlGlobalKeyName = "QGCQml";
 
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
     : QObject(parent)
+    , _multiVehicleManager(toolbox->multiVehicleManager())
+    , _linkManager(toolbox->linkManager())
     , _homePositionManager(toolbox->homePositionManager())
     , _flightMapSettings(toolbox->flightMapSettings())
 {
@@ -70,25 +72,25 @@ bool QGroundControlQmlGlobal::loadBoolGlobalSetting (const QString& key, bool de
 #ifdef QT_DEBUG
 void QGroundControlQmlGlobal::_startMockLink(MockConfiguration* mockConfig)
 {
-    MockLink* mockLink = new MockLink(mockConfig);
-
     LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
 
-    linkManager->_addLink(mockLink);
-    linkManager->connectLink(mockLink);
+    mockConfig->setDynamic(true);
+    linkManager->linkConfigurations()->append(mockConfig);
+
+    linkManager->createConnectedLink(mockConfig, false /* autoconnectLink */);
 }
 #endif
 
 void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("PX4 MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("PX4 MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_PX4);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_PX4);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -97,13 +99,13 @@ void QGroundControlQmlGlobal::startPX4MockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("Generic MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("Generic MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_GENERIC);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_GENERIC);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -112,13 +114,13 @@ void QGroundControlQmlGlobal::startGenericMockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("APM ArduCopter MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("APM ArduCopter MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig.setVehicleType(MAV_TYPE_QUADROTOR);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    mockConfig->setVehicleType(MAV_TYPE_QUADROTOR);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -127,13 +129,13 @@ void QGroundControlQmlGlobal::startAPMArduCopterMockLink(bool sendStatusText)
 void QGroundControlQmlGlobal::startAPMArduPlaneMockLink(bool sendStatusText)
 {
 #ifdef QT_DEBUG
-    MockConfiguration   mockConfig("APM ArduPlane MockLink");
+    MockConfiguration* mockConfig = new MockConfiguration("APM ArduPlane MockLink");
 
-    mockConfig.setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
-    mockConfig.setVehicleType(MAV_TYPE_FIXED_WING);
-    mockConfig.setSendStatusText(sendStatusText);
+    mockConfig->setFirmwareType(MAV_AUTOPILOT_ARDUPILOTMEGA);
+    mockConfig->setVehicleType(MAV_TYPE_FIXED_WING);
+    mockConfig->setSendStatusText(sendStatusText);
 
-    _startMockLink(&mockConfig);
+    _startMockLink(mockConfig);
 #else
     Q_UNUSED(sendStatusText);
 #endif
@@ -144,12 +146,12 @@ void QGroundControlQmlGlobal::stopAllMockLinks(void)
 #ifdef QT_DEBUG
     LinkManager* linkManager = qgcApp()->toolbox()->linkManager();
 
-    QList<LinkInterface*> links = linkManager->getLinks();
-    for (int i=0; i<links.count(); i++) {
-        LinkInterface* link = links[i];
+    for (int i=0; i<linkManager->links()->count(); i++) {
+        LinkInterface* link = linkManager->links()->value<LinkInterface*>(i);
         MockLink* mockLink = qobject_cast<MockLink*>(link);
+
         if (mockLink) {
-            linkManager->disconnectLink(mockLink);
+            linkManager->disconnectLink(mockLink, false /* disconnectAutoconnectLink */);
         }
     }
 #endif

src/QmlControls/QGroundControlQmlGlobal.h

@@ -31,6 +31,7 @@
 
 #include "QGCApplication.h"
 #include "MainWindow.h"
+#include "LinkManager.h"
 #include "HomePositionManager.h"
 #include "FlightMapSettings.h"
 
@@ -47,6 +48,8 @@ class QGroundControlQmlGlobal : public QObject
 public:
     QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
 
+    Q_PROPERTY(LinkManager*         linkManager         READ linkManager            CONSTANT)
+    Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager    CONSTANT)
     Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager    CONSTANT)
     Q_PROPERTY(FlightMapSettings*   flightMapSettings   READ flightMapSettings      CONSTANT)
 
@@ -81,6 +84,8 @@ public:
 
     // Property accesors
 
+    LinkManager*            linkManager ()              { return _linkManager; }
+    MultiVehicleManager*    multiVehicleManager ()      { return _multiVehicleManager; }
     HomePositionManager*    homePositionManager ()      { return _homePositionManager; }
     FlightMapSettings*      flightMapSettings   ()      { return _flightMapSettings; }
 
@@ -124,6 +129,8 @@ private:
     void _startMockLink(MockConfiguration* mockConfig);
 #endif
 
+    MultiVehicleManager*    _multiVehicleManager;
+    LinkManager*            _linkManager;
     HomePositionManager*    _homePositionManager;
     FlightMapSettings*      _flightMapSettings;
 };

src/QmlControls/QmlObjectListModel.cc

@@ -197,11 +197,6 @@ int QmlObjectListModel::count(void) const
     return rowCount();
 }
 
-QObject* QmlObjectListModel::get(int index)
-{
-    return _objectList[index];
-}
-
 void QmlObjectListModel::setDirty(bool dirty)
 {
     _dirty = dirty;

src/QmlControls/QmlObjectListModel.h

@@ -34,14 +34,14 @@ public:
     QmlObjectListModel(QObject* parent = NULL);
     ~QmlObjectListModel();
     
-    Q_INVOKABLE QObject* get(int index);
-    
     Q_PROPERTY(int count READ count NOTIFY countChanged)
     
     /// Returns true if any of the items in the list are dirty. Requires each object to have
     /// a dirty property and dirtyChanged signal.
     Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
 
+    Q_INVOKABLE QObject* get(int index)     { return _objectList[index]; }
+
     // Property accessors
     
     int count(void) const;
@@ -52,13 +52,14 @@ public:
     void append(QObject* object);
     void clear(void);
     QObject* removeAt(int i);
+    QObject* removeOne(QObject* object) { return removeAt(indexOf(object)); }
     void insert(int i, QObject* object);
     QObject* operator[](int i);
     const QObject* operator[](int i) const;
-    
-    template <class T>
-    const QList<T*>& list(void) { return *((QList<T*>*)((void*)(&_objectList))); }
-    
+    bool contains(QObject* object) { return _objectList.indexOf(object) != -1; }
+    int indexOf(QObject* object) { return _objectList.indexOf(object); }
+    template<class T> T value(int index) { return qobject_cast<T>(_objectList[index]); }
+
 signals:
     void countChanged(int count);
     void dirtyChanged(bool dirtyChanged);

src/QmlControls/ScreenTools.qml

@@ -47,9 +47,4 @@ Item {
         property real fontWidth:    contentWidth  * (ScreenToolsController.testHighDPI ? 2 : 1)
         property real fontHeight:   contentHeight * (ScreenToolsController.testHighDPI ? 2 : 1)
     }
-
-    Connections {
-        target: ScreenToolsController
-        onRepaintRequested: repaintRequested()
-    }
 }

src/QmlControls/ScreenToolsController.cc

@@ -43,15 +43,5 @@ const double ScreenToolsController::_largeFontPixelSizeRatio    = 1.66;
 
 ScreenToolsController::ScreenToolsController()
 {
-    MainWindow* mainWindow = MainWindow::instance();
-    // Unit tests can run Qml without MainWindow
-    if (mainWindow) {
-        connect(mainWindow, &MainWindow::repaintCanvas, this, &ScreenToolsController::_updateCanvas);
-    }
-}
 
-void ScreenToolsController::_updateCanvas()
-{
-    emit repaintRequested();
 }
-

src/QmlControls/ScreenToolsController.h

@@ -114,12 +114,6 @@ public:
     bool testHighDPI            () { return false; }
 #endif
 
-signals:
-    void repaintRequested();
-
-private slots:
-    void _updateCanvas();
-
 private:
     static const double _defaultFontPixelSizeRatio;
     static const double _smallFontPixelSizeRatio;

src/Vehicle/MultiVehicleManager.cc

@@ -57,33 +57,26 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
 
+   connect(_toolbox->linkManager(), &LinkManager::linkActive, this, &MultiVehicleManager::_linkActive);
 }
 
-bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
+void MultiVehicleManager::_linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType)
 {
-    if (!getVehicleById(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
-        if (vehicleId == _mavlinkProtocol->getSystemId()) {
-            _app->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
-        }
-
-        QSettings settings;
-        bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
-        if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
-            _ignoreVehicleIds += vehicleId;
-            _app->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
-                                                 "It is unsafe to use different MAVLink versions. "
-                                                 "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
-            return false;
-        }
+    if (!getVehicleById(vehicleId)) {
+        qCDebug(MultiVehicleManagerLog) << "Adding new vehicle linkName:vehicleId:vehicleFirmwareType:vehicleType"
+                                        << link->getName()
+                                        << vehicleId
+                                        << vehicleFirmwareType
+                                        << vehicleType;
 
-        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot, (MAV_TYPE)heartbeat.type, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
+        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
 
         if (!vehicle) {
             qWarning() << "New Vehicle allocation failed";
-            return false;
+            return;
         }
 
-        connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
+        connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
         connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
 
         _vehicles.append(vehicle);
@@ -92,22 +85,20 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
 
         setActiveVehicle(vehicle);
     }
-
-    return true;
 }
 
 /// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
 /// and all other right things happen when the Vehicle goes away.
 void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
 {
-    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1";
+    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase1" << vehicle;
 
-    _vehicleBeingDeleted = vehicle;
+    _vehiclesBeingDeleted << vehicle;
 
     // Remove from map
     bool found = false;
     for (int i=0; i<_vehicles.count(); i++) {
-        if (_vehicles[i] == _vehicleBeingDeleted) {
+        if (_vehicles[i] == vehicle) {
             _vehicles.removeAt(i);
             found = true;
             break;
@@ -136,9 +127,9 @@ void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
     QTimer::singleShot(20, this, &MultiVehicleManager::_deleteVehiclePhase2);
 }
 
-void MultiVehicleManager::_deleteVehiclePhase2  (void)
+void MultiVehicleManager::_deleteVehiclePhase2(void)
 {
-    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2";
+    qCDebug(MultiVehicleManagerLog) << "_deleteVehiclePhase2" << _vehiclesBeingDeleted[0];
 
     /// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
     /// This means we can now clear the active vehicle property and delete the Vehicle for real.
@@ -159,7 +150,8 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
         }
     }
 
-    _vehicleBeingDeleted->deleteLater();
+    delete _vehiclesBeingDeleted[0];
+    _vehiclesBeingDeleted.removeAt(0);
 }
 
 void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
@@ -189,7 +181,7 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
 
 void MultiVehicleManager::_setActiveVehiclePhase2(void)
 {
-    qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2";
+    qCDebug(MultiVehicleManagerLog) << "_setActiveVehiclePhase2 _vehicleBeingSetActive" << _vehicleBeingSetActive;
 
     // Now we signal the new active vehicle
     _activeVehicle = _vehicleBeingSetActive;

src/Vehicle/MultiVehicleManager.h

@@ -58,14 +58,6 @@ public:
 
     // Methods
 
-    /// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
-    /// will create/update Vehicles as necessary.
-    ///     @param link Heartbeat came through on this link
-    ///     @param vehicleId Mavlink system id for vehicle
-    ///     @param heartbeat Mavlink heartbeat message
-    /// @return true: continue further processing of this message, false: disregard this message
-    bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
-
     Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
 
     UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
@@ -98,6 +90,7 @@ private slots:
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
     void _autopilotParametersReadyChanged(bool parametersReady);
+    void _linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);
 
 private:
     bool _vehicleExists(int vehicleId);
@@ -106,8 +99,8 @@ private:
     bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
     Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
 
-    Vehicle*    _vehicleBeingDeleted;               ///< Vehicle being deleted in queued phases
-    Vehicle*    _vehicleBeingSetActive;             ///< Vehicle being set active in queued phases
+    QList<Vehicle*> _vehiclesBeingDeleted;          ///< List of Vehicles being deleted in queued phases
+    Vehicle*        _vehicleBeingSetActive;         ///< Vehicle being set active in queued phases
 
     QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
 

src/Vehicle/Vehicle.cc

@@ -93,6 +93,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _satelliteCount(-1)
     , _satelliteLock(0)
     , _updateCount(0)
+    , _rcRSSI(0)
+    , _rcRSSIstore(100.0)
     , _missionManager(NULL)
     , _missionManagerInitialRequestComplete(false)
     , _parameterLoader(NULL)
@@ -105,6 +107,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _autopilotPluginManager(autopilotPluginManager)
     , _joystickManager(joystickManager)
     , _flowImageIndex(0)
+    , _allLinksInactiveSent(false)
 {
     _addLink(link);
 
@@ -118,9 +121,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
 
-    connect(_uas, &UAS::latitudeChanged,    this, &Vehicle::setLatitude);
-    connect(_uas, &UAS::longitudeChanged,   this, &Vehicle::setLongitude);
-    connect(_uas, &UAS::imageReady,         this, &Vehicle::_imageReady);
+    connect(_uas, &UAS::latitudeChanged,            this, &Vehicle::setLatitude);
+    connect(_uas, &UAS::longitudeChanged,           this, &Vehicle::setLongitude);
+    connect(_uas, &UAS::imageReady,                 this, &Vehicle::_imageReady);
+    connect(_uas, &UAS::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);
 
     _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
     _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
@@ -186,6 +190,8 @@ Vehicle::Vehicle(LinkInterface*             link,
 
 Vehicle::~Vehicle()
 {
+    qCDebug(VehicleLog) << "~Vehicle" << this;
+
     delete _missionManager;
     _missionManager = NULL;
 
@@ -285,38 +291,29 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 
 bool Vehicle::_containsLink(LinkInterface* link)
 {
-    foreach (SharedLinkInterface sharedLink, _links) {
-        if (sharedLink.data() == link) {
-            return true;
-        }
-    }
-
-    return false;
+    return _links.contains(link);
 }
 
 void Vehicle::_addLink(LinkInterface* link)
 {
     if (!_containsLink(link)) {
-        _links += qgcApp()->toolbox()->linkManager()->sharedPointerForLink(link);
+        _links += link;
         qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
-        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
+        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
+        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
     }
 }
 
-void Vehicle::_linkDisconnected(LinkInterface* link)
+void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
 {
-    qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
-    qCDebug(VehicleLog) << "link count:" << _links.count();
+    qCDebug(VehicleLog) << "_linkInactiveOrDeleted linkCount" << _links.count();
 
-    for (int i=0; i<_links.count(); i++) {
-        if (_links[i].data() == link) {
-            _links.removeAt(i);
-            break;
-        }
-    }
+    _links.removeOne(link);
 
-    if (_links.count() == 0) {
-        emit allLinksDisconnected(this);
+    if (_links.count() == 0 && !_allLinksInactiveSent) {
+        // Make sure to not send this more than one time
+        _allLinksInactiveSent = true;
+        emit allLinksInactive(this);
     }
 }
 
@@ -328,10 +325,7 @@ void Vehicle::sendMessage(mavlink_message_t message)
 void Vehicle::_sendMessage(mavlink_message_t message)
 {
     // Emit message on all links that are currently connected
-    foreach (SharedLinkInterface sharedLink, _links) {
-        LinkInterface* link = sharedLink.data();
-        Q_ASSERT(link);
-
+    foreach (LinkInterface* link, _links) {
         if (link->isConnected()) {
             MAVLinkProtocol* mavlink = _mavlink;
 
@@ -350,17 +344,6 @@ void Vehicle::_sendMessage(mavlink_message_t message)
     }
 }
 
-QList<LinkInterface*> Vehicle::links(void)
-{
-    QList<LinkInterface*> list;
-
-    foreach (SharedLinkInterface sharedLink, _links) {
-        list += sharedLink.data();
-    }
-
-    return list;
-}
-
 void Vehicle::setLatitude(double latitude)
 {
     _coordinate.setLatitude(latitude);
@@ -1054,11 +1037,11 @@ void Vehicle::_parametersReady(bool parametersReady)
 
 void Vehicle::_communicationInactivityTimedOut(void)
 {
-    // Vechile is no longer communicating with us, disconnect all links
+    // Vehicle is no longer communicating with us, disconnect all links inactive
 
     LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
     for (int i=0; i<_links.count(); i++) {
-        linkMgr->disconnectLink(_links[i].data());
+        linkMgr->disconnectLink(_links[i], false /* disconnectAutoconnectLink */);
     }
 }
 
@@ -1077,3 +1060,17 @@ void Vehicle::_imageReady(UASInterface*)
         emit flowImageIndexChanged();
     }
 }
+
+void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
+{
+    // Low pass to git rid of jitter
+    _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
+    uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
+    if(_rcRSSIstore < 0.1) {
+        filteredRSSI = 0;
+    }
+    if(_rcRSSI != filteredRSSI) {
+        _rcRSSI = filteredRSSI;
+        emit rcRSSIChanged(_rcRSSI);
+    }
+}

src/Vehicle/Vehicle.h

@@ -111,6 +111,7 @@ public:
     Q_PROPERTY(bool                 joystickEnabled         READ joystickEnabled    WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
     Q_PROPERTY(bool                 active                  READ active             WRITE setActive     NOTIFY activeChanged)
     Q_PROPERTY(int                  flowImageIndex          READ flowImageIndex                         NOTIFY flowImageIndexChanged)
+    Q_PROPERTY(int                  rcRSSI                  READ rcRSSI                                 NOTIFY rcRSSIChanged)
 
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
@@ -173,8 +174,6 @@ public:
     /// Provides access to the Firmware Plugin for this Vehicle
     FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
 
-    QList<LinkInterface*> links(void);
-
     int manualControlReservedButtonCount(void);
 
     MissionManager* missionManager(void) { return _missionManager; }
@@ -251,6 +250,7 @@ public:
     QString         currentState        () { return _currentState; }
     int             satelliteLock       () { return _satelliteLock; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
+    int             rcRSSI              () { return _rcRSSI; }
 
     ParameterLoader* getParameterLoader(void);
 
@@ -259,7 +259,7 @@ public slots:
     void setLongitude(double longitude);
 
 signals:
-    void allLinksDisconnected(Vehicle* vehicle);
+    void allLinksInactive(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
     void coordinateValidChanged(bool coordinateValid);
     void joystickModeChanged(int mode);
@@ -301,15 +301,17 @@ signals:
     void currentStateChanged    ();
     void satelliteLockChanged   ();
     void flowImageIndexChanged  ();
+    void rcRSSIChanged          (int rcRSSI);
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
-    void _linkDisconnected(LinkInterface* link);
+    void _linkInactiveOrDeleted(LinkInterface* link);
     void _sendMessage(mavlink_message_t message);
     void _sendMessageMultipleNext(void);
     void _addNewMapTrajectoryPoint(void);
     void _parametersReady(bool parametersReady);
     void _communicationInactivityTimedOut(void);
+    void _remoteControlRSSIChanged(uint8_t rssi);
 
     void _handleTextMessage                 (int newCount);
     void _handletextMessageReceived         (UASMessage* message);
@@ -356,10 +358,7 @@ private:
     AutoPilotPlugin*    _autopilotPlugin;
     MAVLinkProtocol*    _mavlink;
 
-    /// List of all links associated with this vehicle. We keep SharedLinkInterface objects
-    /// which are QSharedPointer's in order to maintain reference counts across threads.