From c8942215ce04952e3dd0ba500a352031e0ae8a48 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 22 Nov 2015 11:13:50 -0800
Subject: [PATCH] Work correctly when no Vehicle

---
 .../FactControls/FactPanelController.cc       | 25 +++++++++----------
 src/QmlControls/ParameterEditorController.cc  | 12 +++++----
 2 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/src/FactSystem/FactControls/FactPanelController.cc b/src/FactSystem/FactControls/FactPanelController.cc
index 3bfc1f3b5..850116b0a 100644
--- a/src/FactSystem/FactControls/FactPanelController.cc
+++ b/src/FactSystem/FactControls/FactPanelController.cc
@@ -33,19 +33,18 @@
 
 QGC_LOGGING_CATEGORY(FactPanelControllerLog, "FactPanelControllerLog")
 
-FactPanelController::FactPanelController(void) :
-    _factPanel(NULL)
+FactPanelController::FactPanelController(void)
+    : _vehicle(NULL)
+    , _uas(NULL)
+    , _autopilot(NULL)
+    , _factPanel(NULL)
 {
     _vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
-    Q_ASSERT(_vehicle);
 
-    _uas = _vehicle->uas();
-    Q_ASSERT(_uas);
-
-    _autopilot = _vehicle->autopilotPlugin();
-    Q_ASSERT(_autopilot);
-    Q_ASSERT(_autopilot->parametersReady());
-    Q_ASSERT(!_autopilot->missingParameters());
+    if (_vehicle) {
+        _uas = _vehicle->uas();
+        _autopilot = _vehicle->autopilotPlugin();
+    }
 
     // Do a delayed check for the _factPanel finally being set correctly from Qml
     QTimer::singleShot(1000, this, &FactPanelController::_checkForMissingFactPanel);
@@ -114,7 +113,7 @@ bool FactPanelController::_allParametersExists(int componentId, QStringList name
     bool noMissingFacts = true;
 
     foreach (QString name, names) {
-        if (!_autopilot->parameterExists(componentId, name)) {
+        if (_autopilot && !_autopilot->parameterExists(componentId, name)) {
             _reportMissingParameter(componentId, name);
             noMissingFacts = false;
         }
@@ -132,7 +131,7 @@ void FactPanelController::_checkForMissingFactPanel(void)
 
 Fact* FactPanelController::getParameterFact(int componentId, const QString& name)
 {
-    if (_autopilot->parameterExists(componentId, name)) {
+    if (_autopilot && _autopilot->parameterExists(componentId, name)) {
         Fact* fact = _autopilot->getParameterFact(componentId, name);
         QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
         return fact;
@@ -144,7 +143,7 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
 
 bool FactPanelController::parameterExists(int componentId, const QString& name)
 {
-    return _autopilot->parameterExists(componentId, name);
+    return _autopilot ? _autopilot->parameterExists(componentId, name) : false;
 }
 
 void FactPanelController::_showInternalError(const QString& errorMsg)
diff --git a/src/QmlControls/ParameterEditorController.cc b/src/QmlControls/ParameterEditorController.cc
index 4818152ce..8cab46d3c 100644
--- a/src/QmlControls/ParameterEditorController.cc
+++ b/src/QmlControls/ParameterEditorController.cc
@@ -34,11 +34,13 @@
 /// @Brief Constructs a new ParameterEditorController Widget. This widget is used within the PX4VehicleConfig set of screens.
 ParameterEditorController::ParameterEditorController(void)
 {
-    const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
-    
-    foreach (int componentId, groupMap.keys()) {
-		_componentIds += QString("%1").arg(componentId);
-	}
+    if (_autopilot) {
+        const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();
+
+        foreach (int componentId, groupMap.keys()) {
+            _componentIds += QString("%1").arg(componentId);
+        }
+    }
 }
 
 ParameterEditorController::~ParameterEditorController()
-- 
2.22.0