Versioned parameter meta data cache

qgcresources.qrc

@@ -231,13 +231,15 @@
     </qresource>
     <qresource prefix="/AutoPilotPlugins/PX4">
         <file alias="AirframeFactMetaData.xml">src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml</file>
-        <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
     </qresource>
     <qresource prefix="/AutoPilotPlugins/APM">
         <file alias="APMAirframeFactMetaData.xml">src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml</file>
     </qresource>
     <qresource prefix="/FirmwarePlugin/APM">
-        <file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
+        <file alias="APMParameterFactMetaData.xml">src/FirmwarePlugin/APM/APMParameterFactMetaData.xml</file>
+    </qresource>
+    <qresource prefix="/FirmwarePlugin/PX4">
+        <file alias="PX4ParameterFactMetaData.xml">src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml</file>
     </qresource>
     <qresource prefix="/opengl">
         <file>resources/opengl/buglist.json</file>

qgroundcontrol.pro

@@ -606,7 +606,6 @@ HEADERS+= \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
-    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
     src/Vehicle/MultiVehicleManager.h \
@@ -661,8 +660,8 @@ SOURCES += \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
+    src/FirmwarePlugin/FirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
-    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
     src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
     src/Vehicle/MultiVehicleManager.cc \

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "GenericAutoPilotPlugin.h"
-#include "FirmwarePlugin/Generic/GenericFirmwarePlugin.h"  // FIXME: Hack
 
 GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     AutoPilotPlugin(vehicle, parent)

src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml

 <?xml version='1.0' encoding='UTF-8'?>
 <airframes>
   <version>1</version>
+  <airframe_version_minor>1</airframe_version_minor>
   <airframe_group image="HelicopterCoaxial" name="Coaxial Helicopter">
     <airframe id="15001" maintainer="Emmanuel Roussel" name="Coaxial Helicopter (such as Esky Lama v4 or Esky Big Lama)">
       <maintainer>Emmanuel Roussel</maintainer>
@@ -230,6 +231,13 @@
       <maintainer>Blankered</maintainer>
       <type>Quadrotor x</type>
     </airframe>
+    <airframe id="4050" maintainer="Mark Whitehorn &lt;kd0aij@gmail.com&gt;" name="Generic 250 Racer">
+      <maintainer>Mark Whitehorn &lt;kd0aij@gmail.com&gt;</maintainer>
+      <type>Quadrotor x</type>
+      <output name="AUX1">feed-through of RC AUX1 channel</output>
+      <output name="AUX2">feed-through of RC AUX2 channel</output>
+      <output name="AUX3">feed-through of RC AUX3 channel</output>
+    </airframe>
   </airframe_group>
   <airframe_group image="Rover" name="Rover">
     <airframe id="50001" maintainer="John Doe &lt;john@example.com&gt;" name="Axial Racing AX10">

src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc

@@ -134,6 +134,10 @@ void PX4AirframeLoader::loadAirframeMetaData(void)
                     return;
                 }
 
+            } else if (elementName == "airframe_version_major") {
+                // Just skip over for now
+            } else if (elementName == "airframe_version_minor") {
+                // Just skip over for now
 
             } else if (elementName == "airframe_group") {
                 if (xmlState != XmlStateFoundVersion) {

src/FactSystem/ParameterLoader.h

@@ -40,7 +40,6 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog)
 Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderVerboseLog)
 
 /// Connects to Parameter Manager to load/update Facts
@@ -50,7 +49,7 @@ class ParameterLoader : public QObject
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+    ParameterLoader(Vehicle* vehicle);
     
     ~ParameterLoader();
 
@@ -91,6 +90,19 @@ public:
     QString readParametersFromStream(QTextStream& stream);
     
     void writeParametersToStream(QTextStream &stream);
+
+    /// Returns the version number for the parameter set, -1 if not known
+    int parameterSetVersion(void) { return _parameterSetMajorVersion; }
+
+    /// Returns the newest available parameter meta data file (from cache or internal) for the specified information.
+    ///     @param wantedMajorVersion Major version you are looking for
+    ///     @param[out] majorVersion Major version for found meta data
+    ///     @param[out] minorVersion Minor version for found meta data
+    /// @return Meta data file name of best match, emptyString is none found
+    static QString parameterMetaDataFile(MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
+
+    /// If this file is newer than anything in the cache, cache it as the latest version
+    static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType);
     
 signals:
     /// Signalled when the full set of facts are ready
@@ -103,7 +115,6 @@ signals:
     void restartWaitingParamTimer(void);
     
 protected:
-    AutoPilotPlugin*    _autopilot;
     Vehicle*            _vehicle;
     MAVLinkProtocol*    _mavlink;
     
@@ -123,6 +134,7 @@ private:
     void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
     void _writeLocalParamCache(int uasId, int componentId);
     void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value);
+    void _addMetaDataToAll(void);
 
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
@@ -134,18 +146,22 @@ private:
     /// First mapping is by component id
     /// Second mapping is parameter name, to Fact* in QVariant
     QMap<int, QVariantMap>            _mapParameterName2Variant;
+
     QMap<int, QMap<int, QString> >    _mapParameterId2Name;
     
     /// First mapping is by component id
     /// Second mapping is group name, to Fact
     QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
     
-    bool _parametersReady;      ///< true: full set of parameters correctly loaded
-    bool _initialLoadComplete;  ///< true: Initial load of all parameters complete, whether succesful or not
-    bool _saveRequired;         ///< true: _saveToEEPROM should be called
-    int _defaultComponentId;
-    QString _defaultComponentIdParam;
-    
+    bool        _parametersReady;           ///< true: full set of parameters correctly loaded
+    bool        _initialLoadComplete;       ///< true: Initial load of all parameters complete, whether succesful or not
+    bool        _saveRequired;              ///< true: _saveToEEPROM should be called
+    int         _defaultComponentId;
+    QString     _defaultComponentIdParam;   ///< Parameter which identifies default component
+    QString     _versionParam;              ///< Parameter which contains parameter set version
+    int         _parameterSetMajorVersion;  ///< Version for parameter set, -1 if not known
+    QObject*    _parameterMetaData;         ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall
+
     static const int _maxInitialLoadRetry = 10;                  ///< Maximum a retries on initial index based load
     
     QMap<int, int>                  _paramCountMap;             ///< Key: Component id, Value: count of parameters in this component
@@ -162,6 +178,8 @@ private:
     QMutex _dataMutex;
     
     static Fact _defaultFact;   ///< Used to return default fact, when parameter not found
+
+    static const char* _cachedMetaDataFilePrefix;
 };
 
 #endif

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "APMFirmwarePlugin.h"
-#include "Generic/GenericFirmwarePlugin.h"
 #include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h"    // FIXME: Hack
 #include "QGCMAVLink.h"
 #include "QGCApplication.h"
@@ -473,11 +472,16 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     return true;
 }
 
-void APMFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
+void APMFirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
-}
+    APMParameterMetaData* apmMetaData = qobject_cast<APMParameterMetaData*>(parameterMetaData);
 
+    if (apmMetaData) {
+        apmMetaData->addMetaDataToFact(fact, vehicleType);
+    } else {
+        qWarning() << "Internal error: pointer passed to APMFirmwarePlugin::addMetaDataToFact not APMParameterMetaData";
+    }
+}
 
 QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
 {
@@ -508,3 +512,11 @@ void APMFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QSt
     fixedWingJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoFixedWing.json");
     multiRotorJsonFilename = QStringLiteral(":/json/APM/MavCmdInfoMultiRotor.json");
 }
+
+QObject* APMFirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
+{
+    Q_UNUSED(metaDataFile);
+
+    APMParameterMetaData* metaData = new APMParameterMetaData;
+    return metaData;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -80,19 +80,25 @@ class APMFirmwarePlugin : public FirmwarePlugin
     
 public:
     // Overrides from FirmwarePlugin
-    virtual bool isCapable(FirmwareCapabilities capabilities);
-    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
-    virtual QStringList flightModes(void);
-    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
-    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
-    virtual int manualControlReservedButtonCount(void);
-    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
-    virtual void initializeVehicle(Vehicle* vehicle);
-    virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
-    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
-    virtual QList<MAV_CMD> supportedMissionCommands(void);
-    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
+
+    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
+    QList<MAV_CMD> supportedMissionCommands(void) final;
+
+    bool        isCapable(FirmwareCapabilities capabilities) final;
+    QStringList flightModes(void) final;
+    QString     flightMode(uint8_t base_mode, uint32_t custom_mode) final;
+    bool        setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
+    int         manualControlReservedButtonCount(void) final;
+    void        adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
+    void        initializeVehicle(Vehicle* vehicle) final;
+    bool        sendHomePositionToVehicle(void) final;
+    void        addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
+    QString     getDefaultComponentIdParam(void) const final { return QString("SYSID_SW_TYPE"); }
+    void        missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
+    QString     getVersionParam(void) final { return QStringLiteral("SYSID_SW_MREV"); }
+    QString     internalParameterMetaDataFile   (void) final { return QString(":/FirmwarePlugin/APM/APMParameterFactMetaData.xml"); }
+    void        getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
+    QObject*    loadParameterMetaData           (const QString& metaDataFile);
 
 protected:
     /// All access to singleton is through stack specific implementation
@@ -109,7 +115,6 @@ private:
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
     QList<APMCustomMode>    _supportedModes;
-    APMParameterMetaData    _parameterMetaData;
 };
 
 #endif

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -21,9 +21,6 @@
  
  ======================================================================*/
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "APMParameterMetaData.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
@@ -34,15 +31,13 @@
 #include <QDebug>
 #include <QStack>
 
-QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog")
-QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog, "APMParameterMetaDataVerboseLog")
-
-bool                                          APMParameterMetaData::_parameterMetaDataLoaded = false;
-QMap<QString, ParameterNametoFactMetaDataMap> APMParameterMetaData::_vehicleTypeToParametersMap;
+QGC_LOGGING_CATEGORY(APMParameterMetaDataLog,           "APMParameterMetaDataLog")
+QGC_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog,    "APMParameterMetaDataVerboseLog")
 
-APMParameterMetaData::APMParameterMetaData(QObject* parent) :
-    QObject(parent)
+APMParameterMetaData::APMParameterMetaData(void)
+    : _parameterMetaDataLoaded(false)
 {
+    // APM meta data is not yet versioned
     _loadParameterFactMetaData();
 }
 
@@ -146,7 +141,7 @@ void APMParameterMetaData::_loadParameterFactMetaData()
     // Fixme:: always picking up the bundled xml, we would like to update it from web
     // just not sure right now as the xml is in bad shape.
     if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) {
-        parameterFilename = ":/FirmwarePlugin/APM/apm.pdef.xml";
+        parameterFilename = ":/FirmwarePlugin/APM/APMParameterFactMetaData.xml";
     }
 
     qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename;
@@ -428,11 +423,8 @@ bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFa
     return true;
 }
 
-/// Override from FactLoad which connects the meta data to the fact
 void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
-    _loadParameterFactMetaData();
-
     const QString mavTypeString = mavTypeToString(vehicleType);
     APMFactMetaDataRaw* rawMetaData = NULL;
 
@@ -591,3 +583,12 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
     // FixMe:: not handling increment size as their is no place for it in FactMetaData and no ui
     fact->setMetaData(metaData);
 }
+
+void APMParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
+{
+    Q_UNUSED(metaDataFile);
+
+    // Versioning not yet supported
+    majorVersion = -1;
+    minorVersion = -1;
+}

src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -34,6 +34,9 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 
+Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
+Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog)
+
 class APMFactMetaDataRaw
 {
 public:
@@ -54,11 +57,6 @@ public:
     QList<QPair<QString, QString> > bitmask;
 };
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
-Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataVerboseLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
@@ -69,15 +67,11 @@ class APMParameterMetaData : public QObject
     Q_OBJECT
     
 public:
-    /// @param uas Uas which this set of facts is associated with
-    APMParameterMetaData(QObject* parent = NULL);
+    APMParameterMetaData(void);
 
-    /// Override from ParameterLoader
-    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }    
-    
-    // Overrides from ParameterLoader
-    static void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
-    static void addMetaDataToFacts(QVariantMap &facts, MAV_TYPE vehicleType);
+    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
+
+    static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);
 
 private:
     enum {
@@ -90,18 +84,17 @@ private:
         XmlStateFoundGroup,
         XmlStateFoundParameter,
         XmlStateDone
-    };
-    
+    };    
 
-    static void _loadParameterFactMetaData();
-    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
-    static bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName);
-    static bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData);
-    static void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap<QString,QStringList>& groupMembers);
-    static QString mavTypeToString(MAV_TYPE vehicleTypeEnum);
+    void _loadParameterFactMetaData();
+    QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
+    bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName);
+    bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData);
+    void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap<QString,QStringList>& groupMembers);
+    QString mavTypeToString(MAV_TYPE vehicleTypeEnum);
 
-    static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, ParameterNametoFactMetaDataMap> _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map>
+    bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
+    QMap<QString, ParameterNametoFactMetaDataMap> _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map>
 };
 
 #endif

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "ArduCopterFirmwarePlugin.h"
-#include "Generic/GenericFirmwarePlugin.h"
 
 APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
     APMCustomMode(mode, settable)

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
 
 #include "ArduPlaneFirmwarePlugin.h"
-#include "Generic/GenericFirmwarePlugin.h"
 
 APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
     : APMCustomMode(mode, settable)

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

@@ -25,7 +25,6 @@
 ///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
 
 #include "ArduRoverFirmwarePlugin.h"
-#include "Generic/GenericFirmwarePlugin.h"
 
 APMRoverMode::APMRoverMode(uint32_t mode, bool settable)
     : APMCustomMode(mode, settable)

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc → src/FirmwarePlugin/FirmwarePlugin.cc

@@ -21,22 +21,18 @@
  
  ======================================================================*/
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "GenericFirmwarePlugin.h"
-#include "AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h"    // FIXME: Hack
+#include "FirmwarePlugin.h"
 
 #include <QDebug>
 
-QList<VehicleComponent*> GenericFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
+QList<VehicleComponent*> FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
 {
     Q_UNUSED(vehicle);
     
     return QList<VehicleComponent*>();
 }
 
-QString GenericFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
+QString FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
 {
     QString flightMode;
     
@@ -72,25 +68,25 @@ QString GenericFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mod
     return flightMode;
 }
 
-bool GenericFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
+bool FirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
 {
     Q_UNUSED(flightMode);
     Q_UNUSED(base_mode);
     Q_UNUSED(custom_mode);
     
-    qWarning() << "GenericFirmwarePlugin::setFlightMode called on base class, not supported";
+    qWarning() << "FirmwarePlugin::setFlightMode called on base class, not supported";
     
     return false;
 }
 
-int GenericFirmwarePlugin::manualControlReservedButtonCount(void)
+int FirmwarePlugin::manualControlReservedButtonCount(void)
 {
     // We don't know whether the firmware is going to used any of these buttons.
     // So reserve them all.
     return -1;
 }
 
-void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
+void FirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message)
 {
     Q_UNUSED(vehicle);
     Q_UNUSED(message);
@@ -98,14 +94,14 @@ void GenericFirmwarePlugin::adjustMavlinkMessage(Vehicle* vehicle, mavlink_messa
     // Generic plugin does no message adjustment
 }
 
-void GenericFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
+void FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
 {
     Q_UNUSED(vehicle);
     
     // Generic Flight Stack is by definition "generic", so no extra work
 }
 
-bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
+bool FirmwarePlugin::sendHomePositionToVehicle(void)
 {
     // Generic stack does not want home position sent in the first position.
     // Subsequent sequence numbers must be adjusted.
@@ -113,25 +109,23 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
-{
-    Q_UNUSED(vehicleType)
-
-    // Add default meta data
-    FactMetaData* metaData = new FactMetaData(fact->type(), fact);
-    fact->setMetaData(metaData);
-}
-
-QList<MAV_CMD> GenericFirmwarePlugin::supportedMissionCommands(void)
+QList<MAV_CMD> FirmwarePlugin::supportedMissionCommands(void)
 {
     // Generic supports all commands
     return QList<MAV_CMD>();
 }
 
-void GenericFirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
+void FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const
 {
     // No overrides
     commonJsonFilename.clear();
     fixedWingJsonFilename.clear();
     multiRotorJsonFilename.clear();
 }
+
+void FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
+{
+    Q_UNUSED(metaDataFile);
+    majorVersion = -1;
+    minorVersion = -1;
+}

src/FirmwarePlugin/FirmwarePlugin.h

@@ -38,12 +38,10 @@ class Vehicle;
 
 /// This is the base class for Firmware specific plugins
 ///
-/// The FirmwarePlugin class is the abstract base class which represents the methods and objects
-/// which are specific to a certain Firmware flight stack. This is the only place where
-/// flight stack specific code should reside in QGroundControl. The remainder of the
-/// QGroundControl source is generic to a common mavlink implementation. The implementation
-/// in the base class supports mavlink generic firmware. Override the base clase virtuals
-/// to create you firmware specific plugin.
+/// The FirmwarePlugin class represents the methods and objects which are specific to a certain Firmware flight stack.
+/// This is the only place where flight stack specific code should reside in QGroundControl. The remainder of the
+/// QGroundControl source is generic to a common mavlink implementation. The implementation in the base class supports
+/// mavlink generic firmware. Override the base clase virtuals to create your own firmware specific plugin.
 
 class FirmwarePlugin : public QObject
 {
@@ -53,31 +51,30 @@ public:
     /// Set of optional capabilites which firmware may support
     typedef enum {
         SetFlightModeCapability,            ///< FirmwarePlugin::setFlightMode method is supported
-        MavCmdPreflightStorageCapability,   ///< MAV_CMD_PREFLIGHT_STORAGE is supported
-        
+        MavCmdPreflightStorageCapability,   ///< MAV_CMD_PREFLIGHT_STORAGE is supported        
     } FirmwareCapabilities;
     
     /// @return true: Firmware supports all specified capabilites
-    virtual bool isCapable(FirmwareCapabilities capabilities) = 0;
-    
+    virtual bool isCapable(FirmwareCapabilities capabilities) { Q_UNUSED(capabilities); return false; }
+
     /// Returns VehicleComponents for specified Vehicle
     ///     @param vehicle Vehicle  to associate with components
     /// @return List of VehicleComponents for the specified vehicle. Caller owns returned objects and must
     ///         free when no longer needed.
-    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) = 0;
+    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
     
     /// Returns the list of available flight modes
-    virtual QStringList flightModes(void) = 0;
+    virtual QStringList flightModes(void) { return QStringList(); }
     
     /// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
     ///     @param base_mode Base mode from mavlink HEARTBEAT message
     ///     @param custom_mode Custom mode from mavlink HEARTBEAT message
-    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode) = 0;
+    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
     
     /// Sets base_mode and custom_mode to specified flight mode.
     ///     @param[out] base_mode Base mode for SET_MODE mavlink message
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
-    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
+    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
     
     /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
     /// not just this. I'm going to try to change that. If not, this will need to be removed.
@@ -85,17 +82,17 @@ public:
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
     /// The remainder can be assigned to Vehicle actions.
     /// @return -1: reserver all buttons, >0 number of buttons to reserve
-    virtual int manualControlReservedButtonCount(void) = 0;
+    virtual int manualControlReservedButtonCount(void);
     
     /// Called before any mavlink message is processed by Vehicle such that the firmwre plugin
     /// can adjust any message characteristics. This is handy to adjust or differences in mavlink
     /// spec implementations such that the base code can remain mavlink generic.
     ///     @param vehicle Vehicle message came from
     ///     @param message[in,out] Mavlink message to adjust if needed.
-    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) = 0;
+    virtual void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message);
     
     /// Called when Vehicle is first created to send any necessary mavlink messages to the firmware.
-    virtual void initializeVehicle(Vehicle* vehicle) = 0;
+    virtual void initializeVehicle(Vehicle* vehicle);
 
     /// Determines how to handle the first item of the mission item list. Internally to QGC the first item
     /// is always the home position.
@@ -103,22 +100,38 @@ public:
     ///     true: Send first mission item as home position to vehicle. When vehicle has no mission items on
     ///             it, it may or may not return a home position back in position 0.
     ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
-    virtual bool sendHomePositionToVehicle(void) = 0;
+    virtual bool sendHomePositionToVehicle(void);
     
     /// Returns the parameter that is used to identify the default component
-    virtual QString getDefaultComponentIdParam(void) const = 0;
+    virtual QString getDefaultComponentIdParam(void) const { return QString(); }
+
+    /// Returns the parameter which is used to identify the version number of parameter set
+    virtual QString getVersionParam(void) { return QString(); }
+
+    /// Returns the parameter set version info pulled from inside the meta data file. -1 if not found.
+    virtual void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);
+
+    /// Returns the internal resource parameter meta date file.
+    virtual QString internalParameterMetaDataFile(void) { return QString(); }
+
+    /// Loads the specified parameter meta data file.
+    /// @return Opaque parameter meta data information which must be stored with Vehicle. Vehicle is reponsible to
+    ///         call deleteParameterMetaData when no longer needed.
+    virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; }
 
     /// Adds the parameter meta data to the Fact
-    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) = 0;
+    ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
+    virtual void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(fact); Q_UNUSED(vehicleType); return; }
 
     /// List of supported mission commands. Empty list for all commands supported.
-    virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;
+    virtual QList<MAV_CMD> supportedMissionCommands(void);
 
     /// Returns the names for the mission command json override files. Empty string to specify no overrides.
     ///     @param[out] commonJsonFilename Filename for common overrides
     ///     @param[out] fixedWingJsonFilename Filename for fixed wing overrides
     ///     @param[out] multiRotorJsonFilename Filename for multi rotor overrides
-    virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const = 0;
+    virtual void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const;
+
 };
 
 #endif

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FirmwarePluginManager.h"
-#include "Generic/GenericFirmwarePlugin.h"
 #include "APM/ArduCopterFirmwarePlugin.h"
 #include "APM/ArduPlaneFirmwarePlugin.h"
 #include "APM/ArduRoverFirmwarePlugin.h"
@@ -91,7 +90,12 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
     }
 
     if (!_genericFirmwarePlugin) {
-        _genericFirmwarePlugin = new GenericFirmwarePlugin;
+        _genericFirmwarePlugin = new FirmwarePlugin;
     }
     return _genericFirmwarePlugin;
 }
+
+void FirmwarePluginManager::clearSettings(void)
+{
+    // FIXME: NYI
+}

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -38,7 +38,6 @@ class ArduCopterFirmwarePlugin;
 class ArduPlaneFirmwarePlugin;
 class ArduRoverFirmwarePlugin;
 class PX4FirmwarePlugin;
-class GenericFirmwarePlugin;
 
 /// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
 
@@ -56,11 +55,14 @@ public:
     /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
     FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT autopilotType, MAV_TYPE vehicleType);
 
+    /// Clears settings from all firmware plugins.
+    void clearSettings(void);
+
 private:
     ArduCopterFirmwarePlugin*   _arduCopterFirmwarePlugin;
     ArduPlaneFirmwarePlugin*    _arduPlaneFirmwarePlugin;
     ArduRoverFirmwarePlugin*    _arduRoverFirmwarePlugin;
-    GenericFirmwarePlugin*      _genericFirmwarePlugin;
+    FirmwarePlugin*             _genericFirmwarePlugin;
     PX4FirmwarePlugin*          _px4FirmwarePlugin;
 };
 

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.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/>.
- 
- ======================================================================*/
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef GenericFirmwarePlugin_H
-#define GenericFirmwarePlugin_H
-
-#include "FirmwarePlugin.h"
-
-class GenericFirmwarePlugin : public FirmwarePlugin
-{
-    Q_OBJECT
-    
-public:
-    // Overrides from FirmwarePlugin
-    bool isCapable(FirmwareCapabilities capabilities) final { Q_UNUSED(capabilities); return false; }
-    QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
-    QStringList flightModes(void) final { return QStringList(); }
-    QString flightMode(uint8_t base_mode, uint32_t custom_mode) final;
-    bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
-    int manualControlReservedButtonCount(void) final;
-    void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
-    void initializeVehicle(Vehicle* vehicle) final;
-    bool sendHomePositionToVehicle(void) final;
-    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final;
-    QString getDefaultComponentIdParam(void) const final { return QString(); }
-    QList<MAV_CMD> supportedMissionCommands(void) final;
-    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
-};
-
-#endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -25,6 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "PX4FirmwarePlugin.h"
+#include "PX4ParameterMetaData.h"
 #include "AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h"    // FIXME: Hack
 
 #include <QDebug>
@@ -204,9 +205,15 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
+void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
+    PX4ParameterMetaData* px4MetaData = qobject_cast<PX4ParameterMetaData*>(parameterMetaData);
+
+    if (px4MetaData) {
+        px4MetaData->addMetaDataToFact(fact, vehicleType);
+    } else {
+        qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::addMetaDataToFact not PX4ParameterMetaData";
+    }
 }
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
@@ -233,3 +240,10 @@ void PX4FirmwarePlugin::missionCommandOverrides(QString& commonJsonFilename, QSt
     fixedWingJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoFixedWing.json");
     multiRotorJsonFilename = QStringLiteral(":/json/PX4/MavCmdInfoMultiRotor.json");
 }
+
+QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
+{
+    PX4ParameterMetaData* metaData = new PX4ParameterMetaData;
+    metaData->loadParameterFactMetaDataFile(metaDataFile);
+    return metaData;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -28,6 +28,7 @@
 #define PX4FirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
+#include "ParameterLoader.h"
 #include "PX4ParameterMetaData.h"
 
 class PX4FirmwarePlugin : public FirmwarePlugin
@@ -36,22 +37,25 @@ class PX4FirmwarePlugin : public FirmwarePlugin
 
 public:
     // Overrides from FirmwarePlugin
-    bool isCapable(FirmwareCapabilities capabilities) final;
+
     QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle) final;
-    QStringList flightModes(void) final;
-    QString flightMode(uint8_t base_mode, uint32_t custom_mode) final;
-    bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
-    int manualControlReservedButtonCount(void) final;
-    void adjustMavlinkMessage(Vehicle* vehicle, mavlink_message_t* message) final;
-    void initializeVehicle(Vehicle* vehicle) final;
-    bool sendHomePositionToVehicle(void) final;
-    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) final;
-    QString getDefaultComponentIdParam(void) const final { return QString("SYS_AUTOSTART"); }
     QList<MAV_CMD> supportedMissionCommands(void) final;
-    void missionCommandOverrides(QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
 
-private:
-    PX4ParameterMetaData    _parameterMetaData;
+    bool        isCapable                       (FirmwareCapabilities capabilities) final;
+    QStringList flightModes                     (void) final;
+    QString     flightMode                      (uint8_t base_mode, uint32_t custom_mode) final;
+    bool        setFlightMode                   (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
+    int         manualControlReservedButtonCount(void) final;
+    void        adjustMavlinkMessage            (Vehicle* vehicle, mavlink_message_t* message) final;
+    void        initializeVehicle               (Vehicle* vehicle) final;
+    bool        sendHomePositionToVehicle       (void) final;
+    void        addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) final;
+    QString     getDefaultComponentIdParam      (void) const final { return QString("SYS_AUTOSTART"); }
+    void        missionCommandOverrides         (QString& commonJsonFilename, QString& fixedWingJsonFilename, QString& multiRotorJsonFilename) const final;
+    QString     getVersionParam                 (void) final { return QString("SYS_PARAM_VER"); }
+    QString     internalParameterMetaDataFile   (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
+    void        getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
+    QObject*    loadParameterMetaData           (const QString& metaDataFile);
 };
 
 #endif

src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml → src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

 <?xml version='1.0' encoding='UTF-8'?>
 <parameters>
   <version>3</version>
+  <parameter_version_major>1</parameter_version_major>
+  <parameter_version_minor>1</parameter_version_minor>
   <group name="UAVCAN Motor Parameters" no_code_generation="true">
     <parameter default="75" name="ctl_bw" type="INT32">
       <short_desc>Speed controller bandwidth</short_desc>
@@ -1267,21 +1269,21 @@ replay messages for logging</short_desc>
       <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
       <long_desc>0: disabled, 1: enabled</long_desc>
     </parameter>
-    <parameter default="2.5" name="FW_FLARE_PMIN" type="FLOAT">
+    <parameter default="2.5" name="FW_LND_FL_PMIN" type="FLOAT">
       <short_desc>Flare, minimum pitch</short_desc>
       <long_desc>Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
       <min>0</min>
       <max>15.0</max>
       <unit>degrees</unit>
     </parameter>
-    <parameter default="15.0" name="FW_FLARE_PMAX" type="FLOAT">
+    <parameter default="15.0" name="FW_LND_FL_PMAX" type="FLOAT">
       <short_desc>Flare, maximum pitch</short_desc>
       <long_desc>Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
       <min>0</min>
       <max>45.0</max>
       <unit>degrees</unit>
     </parameter>
-    <parameter default="1.3" name="FW_AIRSPD_SCALE" type="FLOAT">
+    <parameter default="1.3" name="FW_LND_AIRSPD_SC" type="FLOAT">
       <short_desc>Landing airspeed scale factor</short_desc>
       <long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach.</long_desc>
       <min>1.0</min>
@@ -2001,7 +2003,7 @@ replay messages for logging</short_desc>
       <max>1.0</max>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="1.0" name="MPC_XY_P" type="FLOAT">
+    <parameter default="1.25" name="MPC_XY_P" type="FLOAT">
       <short_desc>Proportional gain for horizontal position error</short_desc>
       <min>0.0</min>
       <decimal>2</decimal>
@@ -2022,12 +2024,14 @@ replay messages for logging</short_desc>
       <min>0.0</min>
       <decimal>3</decimal>
     </parameter>
-    <parameter default="5.0" name="MPC_XY_VEL_MAX" type="FLOAT">
+    <parameter default="8.0" name="MPC_XY_VEL_MAX" type="FLOAT">
       <short_desc>Maximum horizontal velocity</short_desc>
       <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
       <min>0.0</min>
+      <max>20.0</max>
       <unit>m/s</unit>
       <decimal>2</decimal>
+      <increment>1</increment>
     </parameter>
     <parameter default="0.5" name="MPC_XY_FF" type="FLOAT">
       <short_desc>Horizontal velocity feed forward</short_desc>
@@ -2109,12 +2113,13 @@ replay messages for logging</short_desc>
       <unit>Hz</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="6.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
+    <parameter default="10.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
       <short_desc>Maximum horizonal acceleration in velocity controlled modes</short_desc>
       <min>2.0</min>
-      <max>10.0</max>
+      <max>15.0</max>
       <unit>m/s/s</unit>
       <decimal>2</decimal>
+      <increment>1</increment>
     </parameter>
     <parameter default="0.1" name="MPP_THR_MIN" type="FLOAT">
       <short_desc>Minimum thrust</short_desc>

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -35,11 +35,8 @@
 
 QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog")
 
-bool                            PX4ParameterMetaData::_parameterMetaDataLoaded = false;
-QMap<QString, FactMetaData*>    PX4ParameterMetaData::_mapParameterName2FactMetaData;
-
-PX4ParameterMetaData::PX4ParameterMetaData(QObject* parent) :
-    QObject(parent)
+PX4ParameterMetaData::PX4ParameterMetaData(void)
+    : _parameterMetaDataLoaded(false)
 {
 
 }
@@ -78,46 +75,29 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
     return var;
 }
 
-QString PX4ParameterMetaData::parameterMetaDataFile(void)
+void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaDataFile)
 {
-    QSettings settings;
-    QDir parameterDir = QFileInfo(settings.fileName()).dir();
-    return parameterDir.filePath("PX4ParameterFactMetaData.xml");
-}
+    qCDebug(ParameterLoaderLog) << "PX4ParameterMetaData::loadParameterFactMetaDataFile" << metaDataFile;
 
-/// Load Parameter Fact meta data
-///
-/// The meta data comes from firmware parameters.xml file.
-void PX4ParameterMetaData::_loadParameterFactMetaData(void)
-{
     if (_parameterMetaDataLoaded) {
+        qWarning() << "Internal error: parameter meta data loaded more than once";
         return;
     }
     _parameterMetaDataLoaded = true;
-    
-    qCDebug(PX4ParameterMetaDataLog) << "Loading PX4 parameter fact meta data";
+	
+    qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << metaDataFile;
 
-    Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
+    QFile xmlFile(metaDataFile);
 
-    QString parameterFilename;
-    
-    // We want unit test builds to always use the resource based meta data to provide repeatable results
-    if (!qgcApp()->runningUnitTests()) {
-        // First look for meta data that comes from a firmware download. Fall back to resource if not there.
-        parameterFilename = parameterMetaDataFile();
+    if (!xmlFile.exists()) {
+        qWarning() << "Internal error: metaDataFile mission" << metaDataFile;
+        return;
     }
-	if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) {
-		parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml";
-	}
-	
-    qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename;
-
-    QFile xmlFile(parameterFilename);
-    Q_ASSERT(xmlFile.exists());
     
-    bool success = xmlFile.open(QIODevice::ReadOnly);
-    Q_UNUSED(success);
-    Q_ASSERT(success);
+    if (!xmlFile.open(QIODevice::ReadOnly)) {
+        qWarning() << "Internal error: Unable to open parameter file:" << metaDataFile << xmlFile.errorString();
+        return;
+    }
     
     QXmlStreamReader xml(xmlFile.readAll());
     xmlFile.close();
@@ -159,15 +139,19 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
                 }
                 if (intVersion <= 2) {
                     // We can't read these old files
-                    qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename;
+                    qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << metaDataFile;
                     return;
                 }
                 
-                
+            } else if (elementName == "parameter_version_major") {
+                // Just skip over for now
+            } else if (elementName == "parameter_version_minor") {
+                // Just skip over for now
+
             } else if (elementName == "group") {
                 if (xmlState != XmlStateFoundVersion) {
                     // We didn't get a version stamp, assume older version we can't read
-                    qDebug() << "Parameter version stamp not found, skipping load" << parameterFilename;
+                    qDebug() << "Parameter version stamp not found, skipping load" << metaDataFile;
                     return;
                 }
                 xmlState = XmlStateFoundGroup;
@@ -354,17 +338,69 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
     }
 }
 
-/// Override from FactLoad which connects the meta data to the fact
 void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
     Q_UNUSED(vehicleType)
 
-    _loadParameterFactMetaData();
     if (_mapParameterName2FactMetaData.contains(fact->name())) {
         fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);
-    } else {
-        // Use generic meta data
-        FactMetaData* metaData = new FactMetaData(fact->type(), fact);
-        fact->setMetaData(metaData);
+    }
+}
+
+void PX4ParameterMetaData::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
+{
+    QFile xmlFile(metaDataFile);
+
+    if (!xmlFile.exists()) {
+        qWarning() << "Internal error: metaDataFile mission" << metaDataFile;
+        return;
+    }
+
+    if (!xmlFile.open(QIODevice::ReadOnly)) {
+        qWarning() << "Internal error: Unable to open parameter file:" << metaDataFile << xmlFile.errorString();
+        return;
+    }
+
+    QXmlStreamReader xml(xmlFile.readAll());
+    xmlFile.close();
+    if (xml.hasError()) {
+        qWarning() << "Badly formed XML" << xml.errorString();
+        return;
+    }
+
+    majorVersion = -1;
+    minorVersion = -1;
+
+    while (!xml.atEnd() && (majorVersion == -1 || minorVersion == -1)) {
+        if (xml.isStartElement()) {
+            QString elementName = xml.name().toString();
+
+            if (elementName == "parameter_version_major") {
+                bool convertOk;
+                QString strVersion = xml.readElementText();
+                majorVersion = strVersion.toInt(&convertOk);
+                if (!convertOk) {
+                    qWarning() << "Badly formed XML";
+                    return;
+                }
+            } else if (elementName == "parameter_version_minor") {
+                bool convertOk;
+                QString strVersion = xml.readElementText();
+                minorVersion = strVersion.toInt(&convertOk);
+                if (!convertOk) {
+                    qWarning() << "Badly formed XML";
+                    return;
+                }
+            }
+        }
+        xml.readNext();
+    }
+
+    // Assume defaults if not found
+    if (majorVersion == -1) {
+        majorVersion = 1;
+    }
+    if (minorVersion == -1) {
+        minorVersion = 1;
     }
 }

src/FirmwarePlugin/PX4/PX4ParameterMetaData.h

@@ -38,19 +38,18 @@
 
 Q_DECLARE_LOGGING_CATEGORY(PX4ParameterMetaDataLog)
 
-/// Collection of Parameter Facts for PX4 AutoPilot
-
+/// Loads and holds parameter fact meta data for PX4 stack
 class PX4ParameterMetaData : public QObject
 {
     Q_OBJECT
     
 public:
-    PX4ParameterMetaData(QObject* parent = NULL);
+    PX4ParameterMetaData(void);
 
-    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
+    void loadParameterFactMetaDataFile  (const QString& metaDataFile);
+    void addMetaDataToFact              (Fact* fact, MAV_TYPE vehicleType);
 
-    /// @return Location of PX4 parameter meta data file
-    static QString parameterMetaDataFile(void);
+    static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);
 
 private:
     enum {
@@ -62,11 +61,10 @@ private:
         XmlStateDone
     };    
 
-    static void _loadParameterFactMetaData(void);
-    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
+    QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
 
-    static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
+    bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
+    QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
 };
 
 #endif

src/QGCApplication.cc

@@ -74,7 +74,6 @@
 #include "VehicleComponent.h"
 #include "FirmwarePluginManager.h"
 #include "MultiVehicleManager.h"
-#include "Generic/GenericFirmwarePlugin.h"
 #include "APM/ArduCopterFirmwarePlugin.h"
 #include "APM/ArduPlaneFirmwarePlugin.h"
 #include "APM/ArduRoverFirmwarePlugin.h"
@@ -372,8 +371,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
         settings.clear();
         settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
 
-        QFile::remove(PX4AirframeLoader::aiframeMetaDataFile());
-        QFile::remove(PX4ParameterMetaData::parameterMetaDataFile());
+        // Clear parameter cache
         QDir paramDir(ParameterLoader::parameterCacheDir());
         paramDir.removeRecursively();
         paramDir.mkpath(paramDir.absolutePath());

src/QGCLoggingCategory.cc

@@ -31,6 +31,7 @@ QGC_LOGGING_CATEGORY(FirmwareUpgradeLog,        "FirmwareUpgradeLog")
 QGC_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog, "FirmwareUpgradeVerboseLog")
 QGC_LOGGING_CATEGORY(MissionCommandsLog,        "MissionCommandsLog")
 QGC_LOGGING_CATEGORY(MissionItemLog,            "MissionItemLog")
+QGC_LOGGING_CATEGORY(ParameterLoaderLog,        "ParameterLoaderLog")
 
 QGCLoggingCategoryRegister* _instance = NULL;
 

src/QGCLoggingCategory.h

@@ -35,6 +35,7 @@ Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeLog)
 Q_DECLARE_LOGGING_CATEGORY(FirmwareUpgradeVerboseLog)
 Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
 Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
+Q_DECLARE_LOGGING_CATEGORY(ParameterLoaderLog)
 
 /// @def QGC_LOGGING_CATEGORY
 /// This is a QGC specific replacement for Q_LOGGING_CATEGORY. It will register the category name into a

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -55,6 +55,9 @@ QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app)
 
     _offlineEditingFirmwareTypeMetaData.setEnumInfo(firmwareEnumStrings, firmwareEnumValues);
     _offlineEditingFirmwareTypeFact.setMetaData(&_offlineEditingFirmwareTypeMetaData);
+
+    // We clear the parent on this object since we run into shutdown problems caused by hybrid qml app. Instead we let it leak on shutdown.
+    setParent(NULL);
 }
 
 QGroundControlQmlGlobal::~QGroundControlQmlGlobal()

src/Vehicle/Vehicle.cc

@@ -189,7 +189,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     _missionManager = new MissionManager(this);
     connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
 
-    _parameterLoader = new ParameterLoader(_autopilotPlugin, this /* Vehicle */, this /* parent */);
+    _parameterLoader = new ParameterLoader(this);
     connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
     connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
 

src/Vehicle/Vehicle.h

@@ -641,6 +641,7 @@ private:
     bool                _mapTrajectoryHaveFirstCoordinate;
     static const int    _mapTrajectoryMsecsBetweenPoints = 1000;
 
+    // Toolbox references
     FirmwarePluginManager*      _firmwarePluginManager;
     AutoPilotPluginManager*     _autopilotPluginManager;
     JoystickManager*            _joystickManager;

src/VehicleSetup/FirmwareImage.cc

@@ -27,6 +27,11 @@
 
 #include "FirmwareImage.h"
 #include "QGCLoggingCategory.h"
+#include "JsonHelper.h"
+#include "QGCMAVLink.h"
+#include "QGCApplication.h"
+#include "FirmwarePlugin.h"
+#include "ParameterLoader.h"
 
 #include <QDebug>
 #include <QFile>
@@ -37,6 +42,15 @@
 #include <QFileInfo>
 #include <QDir>
 
+const char* FirmwareImage::_jsonBoardIdKey =            "board_id";
+const char* FirmwareImage::_jsonParamXmlSizeKey =       "parameter_xml_size";
+const char* FirmwareImage::_jsonParamXmlKey =           "parameter_xml";
+const char* FirmwareImage::_jsonAirframeXmlSizeKey =    "airframe_xml_size";
+const char* FirmwareImage::_jsonAirframeXmlKey =        "airframe_xml";
+const char* FirmwareImage::_jsonImageSizeKey =          "image_size";
+const char* FirmwareImage::_jsonImageKey =              "image";
+const char* FirmwareImage::_jsonMavAutopilotKey =       "mav_autopilot";
+
 FirmwareImage::FirmwareImage(QObject* parent) :
     QObject(parent),
     _imageSize(0)
@@ -217,38 +231,52 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     QJsonObject px4Json = doc.object();
     
     // Make sure the keys we need are available
-    static const char* rgJsonKeys[] = { "board_id", "image_size", "description", "git_identity" };
-    for (size_t i=0; i<sizeof(rgJsonKeys)/sizeof(rgJsonKeys[0]); i++) {
-        if (!px4Json.contains(rgJsonKeys[i])) {
-            emit errorMessage(QString("Incorrectly formatted firmware file. No %1 key.").arg(rgJsonKeys[i]));
-            return false;
-        }
+    QString errorString;
+    QStringList requiredKeys;
+    requiredKeys << _jsonBoardIdKey << _jsonImageKey << _jsonImageSizeKey;
+    if (!JsonHelper::validateRequiredKeys(px4Json, requiredKeys, errorString)) {
+        emit errorMessage(QString("Firmware file mission required key: %1").arg(errorString));
+        return false;
     }
-    
-    uint32_t firmwareBoardId = (uint32_t)px4Json.value(QString("board_id")).toInt();
+
+    // Make sure the keys are the correct type
+    QStringList keys;
+    QList<QJsonValue::Type> types;
+    keys << _jsonBoardIdKey << _jsonParamXmlSizeKey << _jsonParamXmlKey << _jsonAirframeXmlSizeKey << _jsonAirframeXmlKey << _jsonImageSizeKey << _jsonImageKey << _jsonMavAutopilotKey;
+    types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::Double;
+    if (!JsonHelper::validateKeyTypes(px4Json, keys, types, errorString)) {
+        emit errorMessage(QString("Firmware file has invalid key: %1").arg(errorString));
+        return false;
+    }
+
+    uint32_t firmwareBoardId = (uint32_t)px4Json.value(_jsonBoardIdKey).toInt();
     if (firmwareBoardId != _boardId) {
         emit errorMessage(QString("Downloaded firmware board id does not match hardware board id: %1 != %2").arg(firmwareBoardId).arg(_boardId));
         return false;
     }
+
+    // What firmware type is this?
+    MAV_AUTOPILOT firmwareType = (MAV_AUTOPILOT)px4Json[_jsonMavAutopilotKey].toInt(MAV_AUTOPILOT_PX4);
+    emit statusMessage(QString("MAV_AUTOPILOT = %1").arg(firmwareType));
     
     // Decompress the parameter xml and save to file
     QByteArray decompressedBytes;
     bool success = _decompressJsonValue(px4Json,               // JSON object
                                         bytes,                 // Raw bytes of JSON document
-                                        "parameter_xml_size",  // key which holds byte size
-                                        "parameter_xml",       // key which holds compress bytes
+                                        _jsonParamXmlSizeKey,  // key which holds byte size
+                                        _jsonParamXmlKey,      // key which holds compressed bytes
                                         decompressedBytes);    // Returned decompressed bytes
     if (success) {
-        // We cache the parameter xml in the same location as settings
+        // Use settings location as our work directory, this way is something goes wrong the file is still there
+        // sitting next to the cache files.
         QSettings settings;
         QDir parameterDir = QFileInfo(settings.fileName()).dir();
-        QString parameterFilename = parameterDir.filePath("PX4ParameterFactMetaData.xml");
+        QString parameterFilename = parameterDir.filePath("ParameterFactMetaData.xml");
         QFile parameterFile(parameterFilename);
 
         if (parameterFile.open(QIODevice::WriteOnly | QIODevice::Truncate)) {
             qint64 bytesWritten = parameterFile.write(decompressedBytes);
             if (bytesWritten != decompressedBytes.count()) {
-                // FIXME: What about these warnings?
                 emit statusMessage(QString("Write failed for parameter meta data file, error: %1").arg(parameterFile.errorString()));
                 parameterFile.close();
                 QFile::remove(parameterFilename);
@@ -258,14 +286,17 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
         } else {
             emit statusMessage(QString("Unable to open parameter meta data file %1 for writing, error: %2").arg(parameterFilename).arg(parameterFile.errorString()));
         }
+
+        // Cache this file with the system
+        ParameterLoader::cacheMetaDataFile(parameterFilename, firmwareType);
     }
 
     // Decompress the airframe xml and save to file
-    success = _decompressJsonValue(px4Json,               // JSON object
-                                        bytes,                 // Raw bytes of JSON document
-                                        "airframe_xml_size",  // key which holds byte size
-                                        "airframe_xml",       // key which holds compress bytes
-                                        decompressedBytes);    // Returned decompressed bytes
+    success = _decompressJsonValue(px4Json,                         // JSON object
+                                        bytes,                      // Raw bytes of JSON document
+                                        _jsonAirframeXmlSizeKey,    // key which holds byte size
+                                        _jsonAirframeXmlKey,        // key which holds compressed bytes
+                                        decompressedBytes);         // Returned decompressed bytes
     if (success) {
         // We cache the airframe xml in the same location as settings and parameters
         QSettings settings;
@@ -293,8 +324,8 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     _imageSize = px4Json.value(QString("image_size")).toInt();
     success = _decompressJsonValue(px4Json,               // JSON object
                                    bytes,                 // Raw bytes of JSON document
-                                   "image_size",          // key which holds byte size
-                                   "image",               // key which holds compress bytes
+                                   _jsonImageSizeKey,     // key which holds byte size
+                                   _jsonImageKey,         // key which holds compressed bytes
                                    decompressedBytes);    // Returned decompressed bytes
     if (!success) {
         return false;
@@ -341,7 +372,7 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject&	jsonObject,			///< J
     }
     int decompressedSize = jsonObject.value(QString(sizeKey)).toInt();
     if (decompressedSize == 0) {
-        emit errorMessage(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey));
+        emit statusMessage(QString("Firmware file has invalid decompressed size for %1").arg(sizeKey));
         return false;
     }
     
@@ -353,12 +384,12 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject&	jsonObject,			///< J
     
     QStringList parts = QString(jsonDocBytes).split(QString("\"%1\": \"").arg(bytesKey));
     if (parts.count() == 1) {
-        emit errorMessage(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey));
+        emit statusMessage(QString("Could not find compressed bytes for %1 in Firmware file").arg(bytesKey));
         return false;
     }
     parts = parts.last().split("\"");
     if (parts.count() == 1) {
-        emit errorMessage(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey));
+        emit statusMessage(QString("Incorrectly formed compressed bytes section for %1 in Firmware file").arg(bytesKey));
         return false;
     }
     
@@ -374,11 +405,11 @@ bool FirmwareImage::_decompressJsonValue(const QJsonObject&	jsonObject,			///< J
     decompressedBytes = qUncompress(raw);
     
     if (decompressedBytes.count() == 0) {
-        emit errorMessage(QString("Firmware file has 0 length %1").arg(bytesKey));
+        emit statusMessage(QString("Firmware file has 0 length %1").arg(bytesKey));
         return false;
     }
     if (decompressedBytes.count() != decompressedSize) {
-        emit errorMessage(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count()));
+        emit statusMessage(QString("Size for decompressed %1 does not match stored size: Expected(%1) Actual(%2)").arg(decompressedSize).arg(decompressedBytes.count()));
         return false;
     }
     

src/VehicleSetup/FirmwareImage.h

@@ -98,6 +98,15 @@ private:
     QString                 _binFilename;
     QList<IntelHexBlock_t>  _ihxBlocks;
     uint32_t                _imageSize;
+
+    static const char* _jsonBoardIdKey;
+    static const char* _jsonParamXmlSizeKey;
+    static const char* _jsonParamXmlKey;
+    static const char* _jsonAirframeXmlSizeKey;
+    static const char* _jsonAirframeXmlKey;
+    static const char* _jsonImageSizeKey;
+    static const char* _jsonImageKey;
+    static const char* _jsonMavAutopilotKey;
 };
 
 #endif

src/comm/PX4MockLink.params

@@ -508,6 +508,7 @@
 1	50	SYS_AUTOCONFIG	0	6
 1	50	SYS_AUTOSTART	10016	6
 1	50	SYS_COMPANION	157600	6
+1	50	SYS_PARAM_VER	1	6
 1	50	SYS_RESTART_TYPE	0	6
 1	50	SYS_USE_IO	1	6
 1	50	TEST_D	                     0.01	9