Changed default component id discovery

Use component id from heartbeat

src/FactSystem/ParameterManager.h

@@ -104,8 +104,6 @@ public:
     /// 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);
 
-    int defaultComponentId(void) { return _defaultComponentId; }
-
     /// Saves the specified param set to the json object.
     ///     @param componentId Component id which contains params, MAV_COMP_ID_ALL to save all components
     ///     @param paramsToSave List of params names to save, empty to save all for component
@@ -139,7 +137,6 @@ protected:
 private:
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
     int _actualComponentId(int componentId);
-    void _determineDefaultComponentId(void);
     void _setupGroupMap(void);
     void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
     void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
@@ -154,7 +151,7 @@ private:
     MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
     FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
     void _saveToEEPROM(void);
-    void _checkInitialLoadComplete(bool failIfNoDefaultComponent);
+    void _checkInitialLoadComplete(void);
 
     /// First mapping is by component id
     /// Second mapping is parameter name, to Fact* in QVariant
@@ -172,8 +169,6 @@ private:
     bool        _initialLoadComplete;           ///< true: Initial load of all parameters complete, whether successful or not
     bool        _waitingForDefaultComponent;    ///< true: last chance wait for default component params
     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

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -88,7 +88,6 @@ public:
     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"); }
     QString             missionCommandOverrides         (MAV_TYPE vehicleType) const;
     QString             getVersionParam                 (void) final { return QStringLiteral("SYSID_SW_MREV"); }
     QString             internalParameterMetaDataFile   (Vehicle* vehicle) final;

src/FirmwarePlugin/FirmwarePlugin.h

@@ -187,9 +187,6 @@ public:
     ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
     virtual bool sendHomePositionToVehicle(void);
 
-    /// Returns the parameter that is used to identify the default component
-    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(); }
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -50,7 +50,6 @@ public:
     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"); }
     QString             missionCommandOverrides         (MAV_TYPE vehicleType) const final;
     QString             getVersionParam                 (void) final { return QString("SYS_PARAM_VER"); }
     QString             internalParameterMetaDataFile   (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }

src/MissionManager/GeoFenceController.cc

@@ -279,7 +279,7 @@ void GeoFenceController::saveToFile(const QString& filename)
             paramNames.append(params[i].value<Fact*>()->name());
         }
         if (paramNames.count() > 0) {
-            paramMgr->saveToJson(paramMgr->defaultComponentId(), paramNames, fenceFileObject);
+            paramMgr->saveToJson(_activeVehicle->defaultComponentId(), paramNames, fenceFileObject);
         }
 
         if (breachReturnEnabled()) {

src/QmlControls/ParameterEditorController.cc

@@ -33,7 +33,10 @@ ParameterEditorController::ParameterEditorController(void)
         _componentIds += QString("%1").arg(componentId);
     }
 
-    _currentGroup = groupMap[_currentComponentId].keys()[0];
+    // Be careful about no parameters
+    if (groupMap.contains(_currentComponentId) && groupMap[_currentComponentId].size() != 0) {
+        _currentGroup = groupMap[_currentComponentId].keys()[0];
+    }
     _updateParameters();
 
     connect(this, &ParameterEditorController::searchTextChanged, this, &ParameterEditorController::_updateParameters);

src/Vehicle/MultiVehicleManager.cc

@@ -68,7 +68,7 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
                                         this);
 }
 
-void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
+void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
 {
     if (_ignoreVehicleIds.contains(vehicleId) || getVehicleById(vehicleId) || vehicleId == 0) {
         return;
@@ -86,9 +86,10 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
         break;
     }
 
-    qCDebug(MultiVehicleManagerLog()) << "Adding new vehicle link:vehicleId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
+    qCDebug(MultiVehicleManagerLog()) << "Adding new vehicle link:vehicleId:componentId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
                                       << link->getName()
                                       << vehicleId
+                                      << componentId
                                       << vehicleMavlinkVersion
                                       << vehicleFirmwareType
                                       << vehicleType;
@@ -107,7 +108,7 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
 //        return;
 //    }
 
-    Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);
+    Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _joystickManager);
     connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
     connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MultiVehicleManager::_vehicleParametersReadyChanged);
 

src/Vehicle/MultiVehicleManager.h

@@ -94,7 +94,7 @@ private slots:
     void _setActiveVehiclePhase2(void);
     void _vehicleParametersReadyChanged(bool parametersReady);
     void _sendGCSHeartbeat(void);
-    void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
+    void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
 
 private:
     bool _vehicleExists(int vehicleId);

src/Vehicle/Vehicle.cc

@@ -58,12 +58,14 @@ const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;
 
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
+                 int                        defaultComponentId,
                  MAV_AUTOPILOT              firmwareType,
                  MAV_TYPE                   vehicleType,
                  FirmwarePluginManager*     firmwarePluginManager,
                  JoystickManager*           joystickManager)
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
     , _id(vehicleId)
+    , _defaultComponentId(defaultComponentId)
     , _active(false)
     , _offlineEditingVehicle(false)
     , _firmwareType(firmwareType)
@@ -211,6 +213,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
                  QObject*                   parent)
     : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
     , _id(0)
+    , _defaultComponentId(MAV_COMP_ID_ALL)
     , _active(false)
     , _offlineEditingVehicle(true)
     , _firmwareType(firmwareType)
@@ -1347,7 +1350,7 @@ QGeoCoordinate Vehicle::homePosition(void)
 void Vehicle::setArmed(bool armed)
 {
     // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
-    sendMavCommand(defaultComponentId(),
+    sendMavCommand(_defaultComponentId,
                    MAV_CMD_COMPONENT_ARM_DISARM,
                    true,    // show error if fails
                    armed ? 1.0f : 0.0f);
@@ -1428,7 +1431,7 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool send
     dataStream.req_message_rate = rate;
     dataStream.start_stop = 1;  // start
     dataStream.target_system = id();
-    dataStream.target_component = defaultComponentId();
+    dataStream.target_component = _defaultComponentId;
 
     mavlink_msg_request_data_stream_encode_chan(_mavlink->getSystemId(),
                                                 _mavlink->getComponentId(),
@@ -1850,7 +1853,7 @@ void Vehicle::setGuidedMode(bool guidedMode)
 
 void Vehicle::emergencyStop(void)
 {
-    sendMavCommand(defaultComponentId(),
+    sendMavCommand(_defaultComponentId,
                    MAV_CMD_COMPONENT_ARM_DISARM,
                    true,        // show error if fails
                    0.0f,
@@ -2019,12 +2022,7 @@ QString Vehicle::firmwareVersionTypeString(void) const
 
 void Vehicle::rebootVehicle()
 {
-    sendMavCommand(defaultComponentId(), MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, true, 1.0f);
-}
-
-int Vehicle::defaultComponentId(void)
-{
-    return _parameterManager->defaultComponentId();
+    sendMavCommand(_defaultComponentId, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, true, 1.0f);
 }
 
 void Vehicle::setSoloFirmware(bool soloFirmware)
@@ -2039,7 +2037,7 @@ void Vehicle::setSoloFirmware(bool soloFirmware)
     // Temporarily removed, waiting for new command implementation
 void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
 {
-    doCommandLongUnverified(defaultComponentId(), MAV_CMD_DO_MOTOR_TEST, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs);
+    doCommandLongUnverified(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs);
 }
 #endif
 
@@ -2113,6 +2111,14 @@ QStringList Vehicle::unhealthySensors(void) const
     return sensorList;
 }
 
+void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId)
+{
+    if (_offlineEditingVehicle) {
+        _defaultComponentId = defaultComponentId;
+    } else {
+        qWarning() << "Call to Vehicle::setOfflineEditingDefaultComponentId on vehicle which is not offline";
+    }
+}
 
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
@@ -2141,12 +2147,12 @@ VehicleGPSFactGroup::VehicleGPSFactGroup(QObject* parent)
 
 void Vehicle::startMavlinkLog()
 {
-    sendMavCommand(defaultComponentId(), MAV_CMD_LOGGING_START, false /* showError */);
+    sendMavCommand(_defaultComponentId, MAV_CMD_LOGGING_START, false /* showError */);
 }
 
 void Vehicle::stopMavlinkLog()
 {
-    sendMavCommand(defaultComponentId(), MAV_CMD_LOGGING_STOP, false /* showError */);
+    sendMavCommand(_defaultComponentId, MAV_CMD_LOGGING_STOP, false /* showError */);
 }
 
 void Vehicle::_ackMavlinkLogData(uint16_t sequence)
@@ -2154,7 +2160,7 @@ void Vehicle::_ackMavlinkLogData(uint16_t sequence)
     mavlink_message_t msg;
     mavlink_logging_ack_t ack;
     ack.sequence = sequence;
-    ack.target_component = defaultComponentId();
+    ack.target_component = _defaultComponentId;
     ack.target_system = id();
     mavlink_msg_logging_ack_encode_chan(
         _mavlink->getSystemId(),

src/Vehicle/Vehicle.h

@@ -191,6 +191,7 @@ class Vehicle : public FactGroup
 public:
     Vehicle(LinkInterface*          link,
             int                     vehicleId,
+            int                     defaultComponentId,
             MAV_AUTOPILOT           firmwareType,
             MAV_TYPE                vehicleType,
             FirmwarePluginManager*  firmwarePluginManager,
@@ -567,7 +568,10 @@ public:
     bool soloFirmware(void) const { return _soloFirmware; }
     void setSoloFirmware(bool soloFirmware);
 
-    int defaultComponentId(void);
+    int defaultComponentId(void) { return _defaultComponentId; }
+
+    /// Sets the default component id for an offline editing vehicle
+    void setOfflineEditingDefaultComponentId(int defaultComponentId);
 
     /// @return -1 = Unknown, Number of motors on vehicle
     int motorCount(void);
@@ -736,6 +740,7 @@ private:
     void _commonInit(void);
 
     int     _id;                    ///< Mavlink system id
+    int     _defaultComponentId;
     bool    _active;
     bool    _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing
 

src/comm/MAVLinkProtocol.cc

@@ -283,7 +283,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 
                 mavlink_heartbeat_t heartbeat;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
-                emit vehicleHeartbeatInfo(link, message.sysid, heartbeat.mavlink_version, heartbeat.autopilot, heartbeat.type);
+                emit vehicleHeartbeatInfo(link, message.sysid, message.compid, heartbeat.mavlink_version, heartbeat.autopilot, heartbeat.type);
             }
 
             // Increase receive counter

src/comm/MAVLinkProtocol.h

@@ -130,7 +130,7 @@ protected:
 
 signals:
     /// Heartbeat received on link
-    void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
+    void vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
 
     /** @brief Message received and directly copied via signal */
     void messageReceived(LinkInterface* link, mavlink_message_t message);