Merge pull request #2421 from DonLakeFlyer/SupportedCommands

Firmware specific supported mission commands list

qgroundcontrol.pro

@@ -662,19 +662,21 @@ INCLUDEPATH += \
 
 HEADERS += \
     src/FactSystem/Fact.h \
+    src/FactSystem/FactControls/FactPanelController.h \
     src/FactSystem/FactMetaData.h \
     src/FactSystem/FactSystem.h \
     src/FactSystem/FactValidator.h \
     src/FactSystem/ParameterLoader.h \
-    src/FactSystem/FactControls/FactPanelController.h \
+    src/FactSystem/SettingsFact.h \
 
 SOURCES += \
     src/FactSystem/Fact.cc \
+    src/FactSystem/FactControls/FactPanelController.cc \
     src/FactSystem/FactMetaData.cc \
     src/FactSystem/FactSystem.cc \
     src/FactSystem/FactValidator.cc \
     src/FactSystem/ParameterLoader.cc \
-    src/FactSystem/FactControls/FactPanelController.cc \
+    src/FactSystem/SettingsFact.cc \
 
 #-------------------------------------------------------------------------------------
 # Video Streaming

src/FactSystem/Fact.h

@@ -136,7 +136,7 @@ signals:
     /// This signal is meant for use by Fact container implementations.
     void _containerRawValueChanged(const QVariant& value);
     
-private:
+protected:
     QString _variantToString(const QVariant& variant) const;
 
     QString                     _name;

src/FactSystem/SettingsFact.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "SettingsFact.h"
+
+#include <QSettings>
+
+SettingsFact::SettingsFact(QObject* parent)
+    : Fact(parent)
+{    
+
+}
+
+SettingsFact::SettingsFact(QString settingGroup, QString settingName, FactMetaData::ValueType_t type, const QVariant& defaultValue, QObject* parent)
+    : Fact(0, settingName, type, parent)
+    , _settingGroup(settingGroup)
+{
+    QSettings settings;
+
+    if (!_settingGroup.isEmpty()) {
+        settings.beginGroup(_settingGroup);
+    }
+
+    _rawValue = settings.value(_name, defaultValue);
+
+    connect(this, &Fact::valueChanged, this, &SettingsFact::_valueChanged);
+}
+
+SettingsFact::SettingsFact(const SettingsFact& other, QObject* parent)
+    : Fact(other, parent)
+{
+    *this = other;
+}
+
+const SettingsFact& SettingsFact::operator=(const SettingsFact& other)
+{
+    Fact::operator=(other);
+    
+    _settingGroup = other._settingGroup;
+
+    return *this;
+}
+
+void SettingsFact::_valueChanged(QVariant value)
+{
+    QSettings settings;
+
+    if (!_settingGroup.isEmpty()) {
+        settings.beginGroup(_settingGroup);
+    }
+
+    settings.setValue(_name, value);
+}

src/FactSystem/SettingsFact.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 SettingsFact_H
+#define SettingsFact_H
+
+#include "Fact.h"
+
+/// @brief A SettingsFact is Fact which holds a QSettings value.
+class SettingsFact : public Fact
+{
+    Q_OBJECT
+    
+public:
+    SettingsFact(QObject* parent = NULL);
+    SettingsFact(QString settingGroup, QString settingName, FactMetaData::ValueType_t type, const QVariant& defaultValue, QObject* parent = NULL);
+    SettingsFact(const SettingsFact& other, QObject* parent = NULL);
+
+    const SettingsFact& operator=(const SettingsFact& other);
+
+private slots:
+    void _valueChanged(QVariant value);
+
+private:
+    QString _settingGroup;
+};
+
+#endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -216,12 +216,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
          << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME
          << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
          << MAV_CMD_NAV_ROI
-         << MAV_CMD_NAV_GUIDED_ENABLE
-         << MAV_CMD_DO_SET_ROI << MAV_CMD_DO_GUIDED_LIMITS << MAV_CMD_DO_JUMP << MAV_CMD_DO_CHANGE_SPEED << MAV_CMD_DO_SET_CAM_TRIGG_DIST
-         << MAV_CMD_DO_SET_RELAY << MAV_CMD_DO_REPEAT_RELAY
-         << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO
-         << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL
-         << MAV_CMD_DO_MOUNT_CONTROL
-         << MAV_CMD_CONDITION_DELAY  << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW;
+         << MAV_CMD_DO_JUMP
+         << MAV_CMD_CONDITION_DELAY;
     return list;
 }

src/MissionManager/MissionCommands.cc

@@ -22,6 +22,10 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionCommands.h"
 #include "FactMetaData.h"
+#include "Vehicle.h"
+#include "FirmwarePluginManager.h"
+#include "QGCApplication.h"
+#include "QGroundControlQmlGlobal.h"
 
 #include <QStringList>
 #include <QJsonDocument>
@@ -60,7 +64,14 @@ const QString MissionCommands::_degreesUnits                (QStringLiteral("deg
 MissionCommands::MissionCommands(QGCApplication* app)
     : QGCTool(app)
 {
+
+}
+
+void MissionCommands::setToolbox(QGCToolbox* toolbox)
+{
+    QGCTool::setToolbox(toolbox);
     _loadMavCmdInfoJson();
+    _createFirmwareSpecificLists();
 }
 
 bool MissionCommands::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types)
@@ -165,7 +176,6 @@ void MissionCommands::_loadMavCmdInfoJson(void)
         }
 
         _mavCmdInfoMap[mavCmdInfo->_command] = mavCmdInfo;
-        _commandList.append(mavCmdInfo);
 
         // Read params
 
@@ -234,16 +244,13 @@ void MissionCommands::_loadMavCmdInfoJson(void)
         if (mavCmdInfo->_command != MAV_CMD_NAV_LAST) {
             // Don't add fake home postion command to categories
 
-            if (!_categories.contains(mavCmdInfo->category()) && mavCmdInfo->friendlyEdit()) {
-                // Only friendly edit commands go in category list
-                qCDebug(MissionCommandsLog) << "Adding new category";
-                _categories.append(mavCmdInfo->category());
-                _categoryToMavCmdInfoListMap[mavCmdInfo->category()] = new QmlObjectListModel(this);
-            }
-
             if (mavCmdInfo->friendlyEdit()) {
-                // Only friendly edit commands go in category list
-                _categoryToMavCmdInfoListMap[mavCmdInfo->category()]->append(mavCmdInfo);
+                // Only friendly edit commands go in category list. We use MAV_AUTOPILOT_GENERIC key to store full list.
+                if (!_categoryToMavCmdInfoListMap.contains(MAV_AUTOPILOT_GENERIC) || !_categoryToMavCmdInfoListMap[MAV_AUTOPILOT_GENERIC].contains(mavCmdInfo->category())) {
+                    qCDebug(MissionCommandsLog) << "Adding new category";
+                    _categoryToMavCmdInfoListMap[MAV_AUTOPILOT_GENERIC][mavCmdInfo->category()] = new QmlObjectListModel(this);
+                }
+                _categoryToMavCmdInfoListMap[MAV_AUTOPILOT_GENERIC][mavCmdInfo->category()]->append(mavCmdInfo);
             }
         }
 
@@ -259,3 +266,64 @@ void MissionCommands::_loadMavCmdInfoJson(void)
         }
     }
 }
+
+MAV_AUTOPILOT MissionCommands::_firmwareTypeFromVehicle(Vehicle* vehicle) const
+{
+    if (vehicle) {
+        return vehicle->firmwareType();
+    } else {
+        QSettings settings;
+
+        // FIXME: Hack duplicated code from QGroundControlQmlGlobal. Had to do this for now since
+        // QGroundControlQmlGlobal is not available from C++ side.
+
+        return (MAV_AUTOPILOT)settings.value("OfflineEditingFirmwareType", MAV_AUTOPILOT_ARDUPILOTMEGA).toInt();
+    }
+}
+
+QString MissionCommands::categoryFromCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) const
+{
+    return _mavCmdInfoMap[(MAV_CMD)command]->category();
+}
+
+QVariant MissionCommands::getCommandsForCategory(Vehicle* vehicle, const QString& category) const
+{
+    return QVariant::fromValue(_categoryToMavCmdInfoListMap[_firmwareTypeFromVehicle(vehicle)][category]);
+}
+
+const QStringList MissionCommands::categories(Vehicle* vehicle) const
+{
+    QStringList list;
+
+    foreach (QString category, _categoryToMavCmdInfoListMap[_firmwareTypeFromVehicle(vehicle)].keys()) {
+        list << category;
+    }
+
+    return list;
+}
+
+void MissionCommands::_createFirmwareSpecificLists(void)
+{
+    QList<MAV_AUTOPILOT>    firmwareList;
+
+    firmwareList << MAV_AUTOPILOT_PX4 << MAV_AUTOPILOT_ARDUPILOTMEGA;
+
+    foreach (MAV_AUTOPILOT firmwareType, firmwareList) {
+        FirmwarePlugin* plugin = _toolbox->firmwarePluginManager()->firmwarePluginForAutopilot(firmwareType, MAV_TYPE_QUADROTOR);
+
+        QList<MAV_CMD> cmdList = plugin->supportedMissionCommands();
+        foreach (MAV_CMD command, cmdList) {
+            MavCmdInfo* mavCmdInfo = _mavCmdInfoMap[command];
+
+            if (mavCmdInfo->friendlyEdit()) {
+                if (!_categoryToMavCmdInfoListMap.contains(firmwareType) || !_categoryToMavCmdInfoListMap[firmwareType].contains(mavCmdInfo->category())) {
+                    qCDebug(MissionCommandsLog) << "Adding new category" << firmwareType;
+                    _categoryToMavCmdInfoListMap[firmwareType][mavCmdInfo->category()] = new QmlObjectListModel(this);
+                }
+                _categoryToMavCmdInfoListMap[firmwareType][mavCmdInfo->category()]->append(mavCmdInfo);
+            } else {
+                qWarning() << "Attempt to add non friendly edit supported command";
+            }
+        }
+    }
+}

src/MissionManager/MissionCommands.h

@@ -38,6 +38,7 @@
 Q_DECLARE_LOGGING_CATEGORY(MissionCommandsLog)
 
 class MissionCommands;
+class Vehicle;
 
 class MavCmdParamInfo : public QObject {
 
@@ -129,17 +130,15 @@ class MissionCommands : public QGCTool
 public:
     MissionCommands(QGCApplication* app);
 
-    Q_PROPERTY(QStringList                  categories  READ categories CONSTANT)
-    Q_PROPERTY(const QmlObjectListModel*    commands    READ commands   CONSTANT)
-
-    Q_INVOKABLE QString         categoryFromCommand(MavlinkQmlSingleton::Qml_MAV_CMD command) { return _mavCmdInfoMap[(MAV_CMD)command]->category(); }
-    Q_INVOKABLE const QVariant  getCommandsForCategory(const QString& category) const { return QVariant::fromValue(_categoryToMavCmdInfoListMap[category]); }
-
-    const QStringList           categories  (void) const { return _categories; }
-    const QmlObjectListModel*   commands    (void) const { return &_commandList; }
+    Q_INVOKABLE const QStringList           categories              (Vehicle* vehicle) const;
+    Q_INVOKABLE QString                     categoryFromCommand     (MavlinkQmlSingleton::Qml_MAV_CMD command) const;
+    Q_INVOKABLE QVariant                    getCommandsForCategory  (Vehicle* vehicle, const QString& category) const;
 
     const QMap<MAV_CMD, MavCmdInfo*>& commandInfoMap(void) const { return _mavCmdInfoMap; };
 
+    // Overrides from QGCTool
+    virtual void setToolbox(QGCToolbox* toolbox);
+
     static const QString _degreesUnits;
     static const QString _degreesConvertUnits;
 
@@ -147,14 +146,14 @@ signals:
     
 private:
     void _loadMavCmdInfoJson(void);
+    void _createFirmwareSpecificLists(void);
     void _setupMetaData(void);
     bool _validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types);
+    MAV_AUTOPILOT _firmwareTypeFromVehicle(Vehicle* vehicle) const;
 
 private:
-    QStringList                         _categories;
-    QMap<QString, QmlObjectListModel*>  _categoryToMavCmdInfoListMap;
-    QmlObjectListModel                  _commandList;
-    QMap<MAV_CMD, MavCmdInfo*>          _mavCmdInfoMap;
+    QMap<MAV_AUTOPILOT, QMap<QString, QmlObjectListModel*> >    _categoryToMavCmdInfoListMap;
+    QMap<MAV_CMD, MavCmdInfo*>                                  _mavCmdInfoMap;
 
     static const QString _categoryJsonKey;
     static const QString _decimalPlacesJsonKey;

src/MissionManager/MissionItem.cc

@@ -37,7 +37,6 @@ FactMetaData* MissionItem::_defaultParamMetaData =      NULL;
 FactMetaData* MissionItem::_frameMetaData =             NULL;
 FactMetaData* MissionItem::_latitudeMetaData =          NULL;
 FactMetaData* MissionItem::_longitudeMetaData =         NULL;
-FactMetaData* MissionItem::_supportedCommandMetaData =  NULL;
 
 struct EnumInfo_s {
     const char *    label;
@@ -108,7 +107,6 @@ MissionItem::MissionItem(QObject* parent)
     , _param7MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _syncingSupportedCommandAndCommand        (false)
     , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
 {
     // Need a good command and frame before we start passing signals around
@@ -167,7 +165,6 @@ MissionItem::MissionItem(int             sequenceNumber,
     , _param7MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _syncingSupportedCommandAndCommand        (false)
     , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
 {
     // Need a good command and frame before we start passing signals around
@@ -183,7 +180,6 @@ MissionItem::MissionItem(int             sequenceNumber,
     setAutoContinue(autoContinue);
 
     _syncFrameToAltitudeRelativeToHome();
-    _syncCommandToSupportedCommand(QVariant(this->command()));
 
     _param1Fact.setRawValue(param1);
     _param2Fact.setRawValue(param2);
@@ -223,7 +219,6 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     , _param4MetaData(FactMetaData::valueTypeDouble)
     , _syncingAltitudeRelativeToHomeAndFrame    (false)
     , _syncingHeadingDegreesAndParam4           (false)
-    , _syncingSupportedCommandAndCommand        (false)
     , _mavCmdInfoMap(qgcApp()->toolbox()->missionCommands()->commandInfoMap())
 {
     // Need a good command and frame before we start passing signals around
@@ -254,7 +249,6 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     setHomePositionValid(other._homePositionValid);
 
     _syncFrameToAltitudeRelativeToHome();
-    _syncCommandToSupportedCommand(QVariant(this->command()));
 
     _param1Fact.setRawValue(other._param1Fact.rawValue());
     _param2Fact.setRawValue(other._param2Fact.rawValue());
@@ -282,8 +276,6 @@ void MissionItem::_connectSignals(void)
     connect(this,           &MissionItem::sequenceNumberChanged,    this, &MissionItem::_setDirtyFromSignal);
 
     // Values from these facts must propogate back and forth between the real object storage
-    connect(&_supportedCommandFact,         &Fact::valueChanged,        this, &MissionItem::_syncSupportedCommandToCommand);
-    connect(&_commandFact,                  &Fact::valueChanged,        this, &MissionItem::_syncCommandToSupportedCommand);
     connect(&_altitudeRelativeToHomeFact,   &Fact::valueChanged,        this, &MissionItem::_syncAltitudeRelativeToHomeToFrame);
     connect(this,                           &MissionItem::frameChanged, this, &MissionItem::_syncFrameToAltitudeRelativeToHome);
 
@@ -351,28 +343,10 @@ void MissionItem::_setupMetaData(void)
         _longitudeMetaData->setUnits("deg");
         _longitudeMetaData->setDecimalPlaces(7);
 
-        enumStrings.clear();
-        enumValues.clear();
-        // FIXME: Hack hardcode to PX4
-        QList<MAV_CMD> supportedCommands = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR)->supportedMissionCommands();
-        if (supportedCommands.count()) {
-            foreach (MAV_CMD command, supportedCommands) {
-                enumStrings.append(_mavCmdInfoMap[command]->friendlyName());
-                enumValues.append(QVariant(command));
-            }
-        } else {
-            foreach (const MavCmdInfo* mavCmdInfo, _mavCmdInfoMap) {
-                enumStrings.append(mavCmdInfo->friendlyName());
-                enumValues.append(QVariant(mavCmdInfo->command()));
-            }
-        }
-        _supportedCommandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
-        _supportedCommandMetaData->setEnumInfo(enumStrings, enumValues);
     }
 
     _commandFact.setMetaData(_commandMetaData);
     _frameFact.setMetaData(_frameMetaData);
-    _supportedCommandFact.setMetaData(_supportedCommandMetaData);
 }
 
 MissionItem::~MissionItem()
@@ -787,24 +761,6 @@ void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
     }
 }
 
-void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
-{
-    if (!_syncingSupportedCommandAndCommand) {
-        _syncingSupportedCommandAndCommand = true;
-        _commandFact.setRawValue(value.toInt());
-        _syncingSupportedCommandAndCommand = false;
-    }
-}
-
-void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
-{
-    if (!_syncingSupportedCommandAndCommand) {
-        _syncingSupportedCommandAndCommand = true;
-        _supportedCommandFact.setRawValue(value.toInt());
-        _syncingSupportedCommandAndCommand = false;
-    }
-}
-
 void MissionItem::setDefaultsForCommand(void)
 {
     // We set these global defaults first, then if there are param defaults they will get reset

src/MissionManager/MissionItem.h

@@ -87,7 +87,6 @@ public:
     Q_PROPERTY(int              sequenceNumber          READ sequenceNumber         WRITE setSequenceNumber     NOTIFY sequenceNumberChanged)
     Q_PROPERTY(bool             standaloneCoordinate    READ standaloneCoordinate                               NOTIFY commandChanged)
     Q_PROPERTY(bool             specifiesCoordinate     READ specifiesCoordinate                                NOTIFY commandChanged)
-    Q_PROPERTY(Fact*            supportedCommand        READ supportedCommand                                   NOTIFY commandChanged)
 
     // These properties are used to display the editing ui
     Q_PROPERTY(QmlObjectListModel*  checkboxFacts   READ checkboxFacts  NOTIFY uiModelChanged)
@@ -118,7 +117,6 @@ public:
     int             sequenceNumber      (void) const    { return _sequenceNumber; }
     bool            standaloneCoordinate(void) const;
     bool            specifiesCoordinate (void) const;
-    Fact*           supportedCommand    (void)          { return &_supportedCommandFact; }
 
 
     QmlObjectListModel* textFieldFacts  (void);
@@ -206,9 +204,7 @@ private slots:
     void _sendFriendlyEditAllowedChanged(void);
     void _sendUiModelChanged(void);
     void _syncAltitudeRelativeToHomeToFrame(const QVariant& value);
-    void _syncCommandToSupportedCommand(const QVariant& value);
     void _syncFrameToAltitudeRelativeToHome(void);
-    void _syncSupportedCommandToCommand(const QVariant& value);
 
 private:
     void _clearParamMetaData(void);
@@ -249,7 +245,6 @@ private:
     static FactMetaData*    _frameMetaData;
     static FactMetaData*    _latitudeMetaData;
     static FactMetaData*    _longitudeMetaData;
-    static FactMetaData*    _supportedCommandMetaData;
 
     FactMetaData    _param1MetaData;
     FactMetaData    _param2MetaData;
@@ -264,7 +259,6 @@ private:
 
     bool _syncingAltitudeRelativeToHomeAndFrame;    ///< true: already in a sync signal, prevents signal loop
     bool _syncingHeadingDegreesAndParam4;           ///< true: already in a sync signal, prevents signal loop
-    bool _syncingSupportedCommandAndCommand;         ///< true: already in a sync signal, prevents signal loop
 
     const QMap<MAV_CMD, MavCmdInfo*>& _mavCmdInfoMap;
 };

src/QGCApplication.cc

@@ -145,7 +145,11 @@ static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
 
 static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
 {
-    return new QGroundControlQmlGlobal(qgcApp()->toolbox());
+    // We create this object as a QGCTool even though it isn't int he toolbox
+    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp());
+    qmlGlobal->setToolbox(qgcApp()->toolbox());
+
+    return qmlGlobal;
 }
 
 /**

src/QmlControls/MissionCommandDialog.qml

@@ -32,6 +32,8 @@ import QGroundControl.Palette       1.0
 QGCViewDialog {
     property var missionItem
 
+    property var _vehicle: QGroundControl.multiVehicleManager.activeVehicle
+
     QGCPalette { id: qgcPal }
 
     QGCLabel {
@@ -45,10 +47,10 @@ QGCViewDialog {
         anchors.margins:    ScreenTools.defaultFontPixelWidth
         anchors.left:       categoryLabel.right
         anchors.right:      parent.right
-        model:              QGroundControl.missionCommands.categories
+        model:              QGroundControl.missionCommands.categories(_vehicle)
 
         function categorySelected(category) {
-            commandList.model = QGroundControl.missionCommands.getCommandsForCategory(category)
+            commandList.model = QGroundControl.missionCommands.getCommandsForCategory(_vehicle, category)
         }
 
         Component.onCompleted: {
@@ -109,5 +111,4 @@ QGCViewDialog {
             }
         }
     } // ListView
-
 } // QGCViewDialog

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "QGroundControlQmlGlobal.h"
-#include "QGCApplication.h"
 
 #include <QSettings>
 
@@ -33,19 +32,49 @@ static const char* kQmlGlobalKeyName = "QGCQml";
 
 const char* QGroundControlQmlGlobal::_virtualTabletJoystickKey = "VirtualTabletJoystick";
 
-QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent)
-    : QObject(parent)
-    , _flightMapSettings(toolbox->flightMapSettings())
-    , _homePositionManager(toolbox->homePositionManager())
-    , _linkManager(toolbox->linkManager())
-    , _missionCommands(toolbox->missionCommands())
-    , _multiVehicleManager(toolbox->multiVehicleManager())
+QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app)
+    : QGCTool(app)
+    , _flightMapSettings(NULL)
+    , _homePositionManager(NULL)
+    , _linkManager(NULL)
+    , _missionCommands(NULL)
+    , _multiVehicleManager(NULL)
     , _virtualTabletJoystick(false)
+    , _offlineEditingFirmwareTypeFact(QString(), "OfflineEditingFirmwareType", FactMetaData::valueTypeUint32, (uint32_t)MAV_AUTOPILOT_ARDUPILOTMEGA)
+    , _offlineEditingFirmwareTypeMetaData(FactMetaData::valueTypeUint32)
+
 {
     QSettings settings;
     _virtualTabletJoystick = settings.value(_virtualTabletJoystickKey, false). toBool();
+
+    QStringList     firmwareEnumStrings;
+    QVariantList    firmwareEnumValues;
+
+    firmwareEnumStrings << "APM Flight Stack" << "PX4 Flight Stack" << "Mavlink Generic Flight Stack";
+    firmwareEnumValues << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_ARDUPILOTMEGA) << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_PX4) << QVariant::fromValue((uint32_t)MAV_AUTOPILOT_GENERIC);
+
+    _offlineEditingFirmwareTypeMetaData.setEnumInfo(firmwareEnumStrings, firmwareEnumValues);
+    _offlineEditingFirmwareTypeFact.setMetaData(&_offlineEditingFirmwareTypeMetaData);
+}
+
+QGroundControlQmlGlobal::~QGroundControlQmlGlobal()
+{
+
 }
 
+
+void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
+{
+    QGCTool::setToolbox(toolbox);
+
+    _flightMapSettings =    toolbox->flightMapSettings();
+    _homePositionManager =  toolbox->homePositionManager();
+    _linkManager =          toolbox->linkManager();
+    _missionCommands =      toolbox->missionCommands();
+    _multiVehicleManager =  toolbox->multiVehicleManager();
+}
+
+
 void QGroundControlQmlGlobal::saveGlobalSetting (const QString& key, const QString& value)
 {
     QSettings settings;

src/QmlControls/QGroundControlQmlGlobal.h

@@ -27,13 +27,13 @@
 #ifndef QGroundControlQmlGlobal_H
 #define QGroundControlQmlGlobal_H
 
-#include <QObject>
-
+#include "QGCToolbox.h"
 #include "QGCApplication.h"
 #include "LinkManager.h"
 #include "HomePositionManager.h"
 #include "FlightMapSettings.h"
 #include "MissionCommands.h"
+#include "SettingsFact.h"
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -41,12 +41,14 @@
 
 class QGCToolbox;
 
-class QGroundControlQmlGlobal : public QObject
+class QGroundControlQmlGlobal : public QGCTool
 {
     Q_OBJECT
 
 public:
-    QGroundControlQmlGlobal(QGCToolbox* toolbox, QObject* parent = NULL);
+    QGroundControlQmlGlobal(QGCApplication* app);
+    ~QGroundControlQmlGlobal();
+
 
     Q_PROPERTY(FlightMapSettings*   flightMapSettings   READ flightMapSettings      CONSTANT)
     Q_PROPERTY(HomePositionManager* homePositionManager READ homePositionManager    CONSTANT)
@@ -72,13 +74,15 @@ public:
     Q_PROPERTY(bool     isVersionCheckEnabled   READ isVersionCheckEnabled      WRITE setIsVersionCheckEnabled      NOTIFY isVersionCheckEnabledChanged)
     Q_PROPERTY(int      mavlinkSystemID         READ mavlinkSystemID            WRITE setMavlinkSystemID            NOTIFY mavlinkSystemIDChanged)
 
+    Q_PROPERTY(Fact*    offlineEditingFirmwareType READ offlineEditingFirmwareType CONSTANT)
+
     Q_INVOKABLE void    saveGlobalSetting       (const QString& key, const QString& value);
     Q_INVOKABLE QString loadGlobalSetting       (const QString& key, const QString& defaultValue);
     Q_INVOKABLE void    saveBoolGlobalSetting   (const QString& key, bool value);
     Q_INVOKABLE bool    loadBoolGlobalSetting   (const QString& key, bool defaultValue);
 
-    Q_INVOKABLE void    deleteAllSettingsNextBoot       () { qgcApp()->deleteAllSettingsNextBoot(); }
-    Q_INVOKABLE void    clearDeleteAllSettingsNextBoot  () { qgcApp()->clearDeleteAllSettingsNextBoot(); }
+    Q_INVOKABLE void    deleteAllSettingsNextBoot       () { _app->deleteAllSettingsNextBoot(); }
+    Q_INVOKABLE void    clearDeleteAllSettingsNextBoot  () { _app->clearDeleteAllSettingsNextBoot(); }
 
     Q_INVOKABLE void    startPX4MockLink            (bool sendStatusText);
     Q_INVOKABLE void    startGenericMockLink        (bool sendStatusText);
@@ -98,16 +102,18 @@ public:
     qreal                   zOrderWidgets       ()      { return 100; }
     qreal                   zOrderMapItems      ()      { return 50; }
 
-    bool    isDarkStyle             () { return qgcApp()->styleIsDark(); }
-    bool    isAudioMuted            () { return qgcApp()->toolbox()->audioOutput()->isMuted(); }
-    bool    isSaveLogPrompt         () { return qgcApp()->promptFlightDataSave(); }
-    bool    isSaveLogPromptNotArmed () { return qgcApp()->promptFlightDataSaveNotArmed(); }
+    bool    isDarkStyle             () { return _app->styleIsDark(); }
+    bool    isAudioMuted            () { return _toolbox->audioOutput()->isMuted(); }
+    bool    isSaveLogPrompt         () { return _app->promptFlightDataSave(); }
+    bool    isSaveLogPromptNotArmed () { return _app->promptFlightDataSaveNotArmed(); }
     bool    virtualTabletJoystick   () { return _virtualTabletJoystick; }
 
-    bool    isHeartBeatEnabled      () { return qgcApp()->toolbox()->mavlinkProtocol()->heartbeatsEnabled(); }
-    bool    isMultiplexingEnabled   () { return qgcApp()->toolbox()->mavlinkProtocol()->multiplexingEnabled(); }
-    bool    isVersionCheckEnabled   () { return qgcApp()->toolbox()->mavlinkProtocol()->versionCheckEnabled(); }
-    int     mavlinkSystemID         () { return qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(); }
+    bool    isHeartBeatEnabled      () { return _toolbox->mavlinkProtocol()->heartbeatsEnabled(); }
+    bool    isMultiplexingEnabled   () { return _toolbox->mavlinkProtocol()->multiplexingEnabled(); }
+    bool    isVersionCheckEnabled   () { return _toolbox->mavlinkProtocol()->versionCheckEnabled(); }
+    int     mavlinkSystemID         () { return _toolbox->mavlinkProtocol()->getSystemId(); }
+
+    Fact*   offlineEditingFirmwareType () { return &_offlineEditingFirmwareTypeFact; }
 
     //-- TODO: Make this into an actual preference.
     bool    isAdvancedMode          () { return false; }
@@ -123,6 +129,9 @@ public:
     void    setIsVersionCheckEnabled    (bool enable);
     void    setMavlinkSystemID          (int  id);
 
+    // Overrides from QGCTool
+    virtual void setToolbox(QGCToolbox* toolbox);
+
 signals:
     void isDarkStyleChanged             (bool dark);
     void isAudioMutedChanged            (bool muted);
@@ -144,6 +153,9 @@ private:
 
     bool _virtualTabletJoystick;
 
+    SettingsFact    _offlineEditingFirmwareTypeFact;
+    FactMetaData    _offlineEditingFirmwareTypeMetaData;
+
     static const char*  _virtualTabletJoystickKey;
 };
 

src/ui/preferences/GeneralSettings.qml

@@ -28,6 +28,7 @@ import QtQuick.Dialogs          1.1
 
 import QGroundControl                       1.0
 import QGroundControl.FactSystem            1.0
+import QGroundControl.FactControls          1.0
 import QGroundControl.Controls              1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
@@ -194,31 +195,35 @@ Rectangle {
             //-- Autoconnect settings
             QGCLabel { text: "Autoconnect to the following devices:" }
 
-            QGCCheckBox {
-                text:       "Pixhawk"
-                visible:    !ScreenTools.isiOS
-                checked:    QGroundControl.linkManager.autoconnectPixhawk
-                onClicked:  QGroundControl.linkManager.autoconnectPixhawk = checked
-            }
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth * 2
 
-            QGCCheckBox {
-                text:       "3DR Radio"
-                visible:    !ScreenTools.isiOS
-                checked:    QGroundControl.linkManager.autoconnect3DRRadio
-                onClicked:  QGroundControl.linkManager.autoconnect3DRRadio = checked
-            }
+                QGCCheckBox {
+                    text:       "Pixhawk"
+                    visible:    !ScreenTools.isiOS
+                    checked:    QGroundControl.linkManager.autoconnectPixhawk
+                    onClicked:  QGroundControl.linkManager.autoconnectPixhawk = checked
+                }
 
-            QGCCheckBox {
-                text:       "PX4 Flow"
-                visible:    !ScreenTools.isiOS
-                checked:    QGroundControl.linkManager.autoconnectPX4Flow
-                onClicked:  QGroundControl.linkManager.autoconnectPX4Flow = checked
-            }
+                QGCCheckBox {
+                    text:       "3DR Radio"
+                    visible:    !ScreenTools.isiOS
+                    checked:    QGroundControl.linkManager.autoconnect3DRRadio
+                    onClicked:  QGroundControl.linkManager.autoconnect3DRRadio = checked
+                }
 
-            QGCCheckBox {
-                text:       "UDP"
-                checked:    QGroundControl.linkManager.autoconnectUDP
-                onClicked:  QGroundControl.linkManager.autoconnectUDP = checked
+                QGCCheckBox {
+                    text:       "PX4 Flow"
+                    visible:    !ScreenTools.isiOS
+                    checked:    QGroundControl.linkManager.autoconnectPX4Flow
+                    onClicked:  QGroundControl.linkManager.autoconnectPX4Flow = checked
+                }
+
+                QGCCheckBox {
+                    text:       "UDP"
+                    checked:    QGroundControl.linkManager.autoconnectUDP
+                    onClicked:  QGroundControl.linkManager.autoconnectUDP = checked
+                }
             }
 
             Item {
@@ -233,6 +238,27 @@ Rectangle {
                 checked:    QGroundControl.virtualTabletJoystick
                 onClicked:  QGroundControl.virtualTabletJoystick = checked
             }
+
+            Item {
+                height: ScreenTools.defaultFontPixelHeight / 2
+                width:  parent.width
+            }
+
+            Row {
+                spacing: ScreenTools.defaultFontPixelWidth
+
+                QGCLabel {
+                    text:               "Offline mission editing vehicle type:"
+                    anchors.baseline:   offlineTypeCombo.baseline
+                }
+
+                FactComboBox {
+                    id:         offlineTypeCombo
+                    width:      ScreenTools.defaultFontPixelWidth * 25
+                    fact:       QGroundControl.offlineEditingFirmwareType
+                    indexModel: false
+                }
+            }
         }
     }
 }