Added new _autopilot member

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -62,8 +62,8 @@ static const struct mavType mavTypeInfo[] = {
 };
 static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
 
-AirframeComponent::AirframeComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Airframe"))
 {
     // Validate that our mavTypeInfo array hasn't gotten out of sync

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -35,7 +35,7 @@ class AirframeComponent : public PX4Component
     Q_OBJECT
     
 public:
-    AirframeComponent(UASInterface* uas, QObject* parent = NULL);
+    AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -45,8 +45,8 @@ static const SwitchListItem switchList[] = {
 };
 static const size_t cSwitchList = sizeof(switchList) / sizeof(switchList[0]);
 
-FlightModesComponent::FlightModesComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+FlightModesComponent::FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Flight Modes"))
 {
 }

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -35,7 +35,7 @@ class FlightModesComponent : public PX4Component
     Q_OBJECT
     
 public:
-    FlightModesComponent(UASInterface* uas, QObject* parent = NULL);
+    FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -26,6 +26,7 @@
 #include "RadioComponent.h"
 #include "SensorsComponent.h"
 #include "FlightModesComponent.h"
+#include "SafetyComponent.h"
 #include "AutoPilotPluginManager.h"
 #include "UASManager.h"
 #include "QGCUASParamManagerInterface.h"
@@ -196,19 +197,23 @@ const QVariantList& PX4AutoPilotPlugin::components(void)
 
         Q_ASSERT(_uas);
         
-        component = new AirframeComponent(_uas);
+        component = new AirframeComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new RadioComponent(_uas);
+        component = new RadioComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new FlightModesComponent(_uas);
+        component = new FlightModesComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new SensorsComponent(_uas);
+        component = new SensorsComponent(_uas, this);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+
+        component = new SafetyComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
     }

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -26,8 +26,8 @@
 
 #include "PX4Component.h"
 
-PX4Component::PX4Component(UASInterface* uas, QObject* parent) :
-    VehicleComponent(uas, parent)
+PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(uas, autopilot, parent)
 {
     bool fSuccess = connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant)));
     Q_ASSERT(fSuccess);

src/AutoPilotPlugins/PX4/PX4Component.h

@@ -35,7 +35,7 @@ class PX4Component : public VehicleComponent
     Q_OBJECT
     
 public:
-    PX4Component(UASInterface* uas, QObject* parent = NULL);
+    PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an array of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL. Must be implemented by upper level class.
@@ -45,7 +45,6 @@ private slots:
     /// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal
     ///         setupCompleteChanged at appropriate times.
     void _parameterUpdated(int compId, QString paramName, QVariant value);
-    
 };
 
 #endif

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -31,8 +31,8 @@
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
 
-RadioComponent::RadioComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Radio"))
 {
 }

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -36,7 +36,7 @@ class RadioComponent : public PX4Component
     Q_OBJECT
     
 public:
-    RadioComponent(UASInterface* uas, QObject* parent = NULL);
+    RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -36,8 +36,8 @@ static const char* triggerParams[] = {  "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS
 /// @brief Used to translate from parameter name to user string
 static const char* triggerSensors[] = { "Compass",       "Gyro",           "Acceleromter",  "Airspeed",       NULL };
 
-SensorsComponent::SensorsComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Sensors"))
 {
 }

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -35,7 +35,7 @@ class SensorsComponent : public PX4Component
     Q_OBJECT
     
 public:
-    SensorsComponent(UASInterface* uas, QObject* parent = NULL);
+    SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;

src/VehicleSetup/VehicleComponent.cc

@@ -25,13 +25,18 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "VehicleComponent.h"
+#include "AutoPilotPlugin.h"
 
-VehicleComponent::VehicleComponent(UASInterface* uas, QObject* parent) :
+VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     QObject(parent),
     _uas(uas),
-    _paramMgr(_uas->getParamManager())
+    _autopilot(autopilot)
 {
+    Q_ASSERT(uas);
+    Q_ASSERT(autopilot);
     
+    _paramMgr = _uas->getParamManager();
+    Q_ASSERT(_paramMgr);
 }
 
 VehicleComponent::~VehicleComponent()

src/VehicleSetup/VehicleComponent.h

@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef VEHICLECOMPONENT_H
 #define VEHICLECOMPONENT_H
 
@@ -30,11 +33,10 @@
 
 #include "UASInterface.h"
 
-/// @file
-///     @brief Vehicle Component class. A vehicle component is an object which
-///             abstracts the physical portion of a vehicle into a set of
-///             configurable values and user interface.
-///     @author Don Gagne <don@thegagnes.com>
+class AutoPilotPlugin;
+
+/// A vehicle component is an object which abstracts the physical portion of a vehicle into a set of
+/// configurable values and user interface.
 
 class VehicleComponent : public QObject
 {
@@ -50,7 +52,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QVariantList summaryItems READ summaryItems CONSTANT);
     
 public:
-    VehicleComponent(UASInterface* uas, QObject* parent = NULL);
+    VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     ~VehicleComponent();
     
     virtual QString name(void) const = 0;
@@ -70,6 +72,7 @@ signals:
     
 protected:
     UASInterface*                   _uas;
+    AutoPilotPlugin*                _autopilot;
     QGCUASParamManagerInterface*    _paramMgr;
 };