Move ParameterLoader override to FirmwarePlugin

QGCApplication.pro

@@ -507,8 +507,8 @@ INCLUDEPATH += \
 HEADERS+= \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \
+    src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
-    src/AutoPilotPlugins/Generic/GenericParameterFacts.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
     src/AutoPilotPlugins/PX4/AirframeComponentController.h \
@@ -518,7 +518,6 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/PowerComponentController.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4Component.h \
-    src/AutoPilotPlugins/PX4/PX4ParameterLoader.h \
     src/AutoPilotPlugins/PX4/RadioComponent.h \
     src/AutoPilotPlugins/PX4/RadioComponentController.h \
     src/AutoPilotPlugins/PX4/SafetyComponent.h \
@@ -527,11 +526,14 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
+    src/FirmwarePlugin/APM/APMParameterLoader.h \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
+    src/FirmwarePlugin/Generic/GenericParameterLoader.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
+    src/FirmwarePlugin/PX4/PX4ParameterLoader.h \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/Vehicle.h \
     src/VehicleSetup/VehicleComponent.h \
@@ -548,8 +550,8 @@ HEADERS += \
 SOURCES += \
     src/AutoPilotPlugins/AutoPilotPlugin.cc \
     src/AutoPilotPlugins/AutoPilotPluginManager.cc \
+    src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
-    src/AutoPilotPlugins/Generic/GenericParameterFacts.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
@@ -559,19 +561,21 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/PowerComponentController.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4Component.cc \
-    src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc \
     src/AutoPilotPlugins/PX4/RadioComponent.cc \
     src/AutoPilotPlugins/PX4/RadioComponentController.cc \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
+    src/FirmwarePlugin/APM/APMParameterLoader.cc \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
+    src/FirmwarePlugin/Generic/GenericParameterLoader.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
+    src/FirmwarePlugin/PX4/PX4ParameterLoader.cc \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/Vehicle.cc \
     src/VehicleSetup/VehicleComponent.cc \

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 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 "APMAutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
+#include "QGCMessageBox.h"
+#include "UAS.h"
+#include "FirmwarePlugin/APM/APMParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
+
+/// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
+APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
+    AutoPilotPlugin(vehicle, parent),
+    _incorrectParameterVersion(false)
+{
+    Q_ASSERT(vehicle);
+
+    // This kicks off parameter load
+    _firmwarePlugin->getParameterLoader(this, vehicle);
+}
+
+APMAutoPilotPlugin::~APMAutoPilotPlugin()
+{
+
+}
+
+void APMAutoPilotPlugin::clearStaticData(void)
+{
+    APMParameterLoader::clearStaticData();
+}
+
+const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
+{
+    static const QVariantList emptyList;
+
+    return emptyList;
+}
+
+/// This will perform various checks prior to signalling that the plug in ready
+void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
+{
+#if 0
+    I believe APM has parameter version stamp, we should check that
+    
+    // Check for older parameter version set
+    // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
+    // should be used instead.
+    if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
+        _incorrectParameterVersion = true;
+        QGCMessageBox::warning("Setup", "This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
+										"Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
+	}
+#endif
+	
+    _parametersReady = true;
+    _missingParameters = missingParameters;
+    emit missingParametersChanged(_missingParameters);
+    emit parametersReadyChanged(_parametersReady);
+}

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMAutoPilotPlugin_H
+#define APMAutoPilotPlugin_H
+
+#include "AutoPilotPlugin.h"
+#include "Vehicle.h"
+
+/// This is the APM specific implementation of the AutoPilot class.
+class APMAutoPilotPlugin : public AutoPilotPlugin
+{
+    Q_OBJECT
+
+public:
+    APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent);
+    ~APMAutoPilotPlugin();
+
+    // Overrides from AutoPilotPlugin
+    virtual const QVariantList& vehicleComponents(void);
+
+    static void clearStaticData(void);
+
+public slots:
+    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
+    void _parametersReadyPreChecks(bool missingParameters);
+
+private:
+    bool _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
+};
+
+#endif

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -30,10 +30,12 @@
 #include "MainWindow.h"
 #include "ParameterLoader.h"
 #include "UAS.h"
+#include "FirmwarePlugin.h"
 
 AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)
+    , _firmwarePlugin(vehicle->firmwarePlugin())
     , _parametersReady(false)
     , _missingParameters(false)
 	, _setupComplete(false)
@@ -107,34 +109,34 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
 
 void AutoPilotPlugin::refreshAllParameters(void)
 {
-	_getParameterLoader()->refreshAllParameters();
+    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshAllParameters();
 }
 
 void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
 {
-	_getParameterLoader()->refreshParameter(componentId, name);
+    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParameter(componentId, name);
 }
 
 void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
 {
-	_getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
+    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParametersPrefix(componentId, namePrefix);
 }
 
 bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
 {
-    return _getParameterLoader()->parameterExists(componentId, name);
+    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
 }
 
 Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
 {
-    return _getParameterLoader()->getFact(componentId, name);
+    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
 }
 
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _getParameterLoader()->parameterExists(componentId, name);
+            return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -147,7 +149,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _getParameterLoader()->getFact(componentId, name);
+            return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -158,20 +160,20 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 
 QStringList AutoPilotPlugin::parameterNames(int componentId)
 {
-	return _getParameterLoader()->parameterNames(componentId);
+    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterNames(componentId);
 }
 
 const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 {
-    return _getParameterLoader()->getGroupMap();
+    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getGroupMap();
 }
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-	_getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
+    _firmwarePlugin->getParameterLoader(this, _vehicle)->writeParametersToStream(stream, _vehicle->uas()->getUASName());
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 {
-	return _getParameterLoader()->readParametersFromStream(stream);
+    return _firmwarePlugin->getParameterLoader(this, _vehicle)->readParametersFromStream(stream);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -38,6 +38,7 @@
 
 class ParameterLoader;
 class Vehicle;
+class FirmwarePlugin;
 
 /// This is the base class for AutoPilot plugins
 ///
@@ -132,20 +133,18 @@ protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
     AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
     
-	/// Returns the ParameterLoader
-	virtual ParameterLoader* _getParameterLoader(void) = 0;
-	
-    Vehicle*    _vehicle;
-    bool        _parametersReady;
-    bool        _missingParameters;
-	bool		_setupComplete;
+    Vehicle*        _vehicle;
+    FirmwarePlugin* _firmwarePlugin;
+    bool            _parametersReady;
+    bool            _missingParameters;
+    bool            _setupComplete;
 	
 private slots:
 	void _uasDisconnected(void);
 	void _parametersReadyChanged(bool parametersReady);
 	
 private:
-	void _recalcSetupComplete(void);
+	void _recalcSetupComplete(void);    
 };
 
 #endif

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -26,6 +26,7 @@
 
 #include "AutoPilotPluginManager.h"
 #include "PX4/PX4AutoPilotPlugin.h"
+#include "APM/APMAutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 
 IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
@@ -44,9 +45,12 @@ AutoPilotPluginManager::~AutoPilotPluginManager()
 
 AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
 {
-    if (vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
-        return new PX4AutoPilotPlugin(vehicle, vehicle);
-    } else {
-        return new GenericAutoPilotPlugin(vehicle, vehicle);
+    switch (vehicle->firmwareType()) {
+        case MAV_AUTOPILOT_PX4:
+            return new PX4AutoPilotPlugin(vehicle, vehicle);
+        case MAV_AUTOPILOT_ARDUPILOTMEGA:
+            return new APMAutoPilotPlugin(vehicle, vehicle);
+        default:
+            return new GenericAutoPilotPlugin(vehicle, vehicle);
     }
 }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -25,17 +25,15 @@
 ///     @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)
 {
     Q_ASSERT(vehicle);
-    
-    _parameterFacts = new GenericParameterFacts(this, vehicle, this);
-    Q_CHECK_PTR(_parameterFacts);
-    
-    connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReadySlot);
-    connect(_parameterFacts, &GenericParameterFacts::parameterListProgress, this, &GenericAutoPilotPlugin::parameterListProgress);
+
+    // This kicks off parameter load
+    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 void GenericAutoPilotPlugin::clearStaticData(void)
@@ -50,7 +48,8 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
     return emptyList;
 }
 
-void GenericAutoPilotPlugin::_parametersReadySlot(bool missingParameters)
+/// This will perform various checks prior to signalling that the plug in ready
+void GenericAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
 {
     _parametersReady = true;
     _missingParameters = missingParameters;

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -25,7 +25,6 @@
 #define GENERICAUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
-#include "GenericParameterFacts.h"
 
 /// @file
 ///     @brief This is the generic implementation of the AutoPilotPlugin class for mavs
@@ -44,14 +43,9 @@ public:
 
     static void clearStaticData(void);
     
-private slots:
-    void _parametersReadySlot(bool missingParameters);
-    
-private:
-	// Overrides from AutoPilotPlugin
-	virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
-	
-    GenericParameterFacts*  _parameterFacts;
+public slots:
+    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
+    void _parametersReadyPreChecks(bool missingParameters);
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -23,12 +23,13 @@
 
 #include "PX4AutoPilotPlugin.h"
 #include "AutoPilotPluginManager.h"
-#include "PX4ParameterLoader.h"
 #include "PX4AirframeLoader.h"
 #include "FlightModesComponentController.h"
 #include "AirframeComponentController.h"
 #include "QGCMessageBox.h"
 #include "UAS.h"
+#include "FirmwarePlugin/PX4/PX4ParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h"  // FIXME: Hack
 
 /// @file
 ///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
@@ -66,7 +67,6 @@ union px4_custom_mode {
 
 PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     AutoPilotPlugin(vehicle, parent),
-    _parameterFacts(NULL),
     _airframeComponent(NULL),
     _radioComponent(NULL),
     _flightModesComponent(NULL),
@@ -77,22 +77,17 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
 {
     Q_ASSERT(vehicle);
     
-    _parameterFacts = new PX4ParameterLoader(this, vehicle, this);
-    Q_CHECK_PTR(_parameterFacts);
-    
-    connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_parametersReadyPreChecks);
-    connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
-
     _airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
     Q_CHECK_PTR(_airframeFacts);
     
-    PX4ParameterLoader::loadParameterFactMetaData();
     PX4AirframeLoader::loadAirframeFactMetaData();
+
+    // This kicks off parameter load
+    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
 {
-    delete _parameterFacts;
     delete _airframeFacts;
 }
 

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -25,7 +25,6 @@
 #define PX4AUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
-#include "PX4ParameterLoader.h"
 #include "PX4AirframeLoader.h"
 #include "AirframeComponent.h"
 #include "RadioComponent.h"
@@ -62,14 +61,11 @@ public:
     SafetyComponent*        safetyComponent(void)       { return _safetyComponent; }
     PowerComponent*         powerComponent(void)        { return _powerComponent; }
 
-private slots:
+public slots:
+    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);
     
 private:
-	// Overrides from AutoPilotPlugin
-	virtual ParameterLoader* _getParameterLoader(void) { return _parameterFacts; }
-	
-    PX4ParameterLoader*     _parameterFacts;
     PX4AirframeLoader*      _airframeFacts;
     QVariantList            _components;
     AirframeComponent*      _airframeComponent;

src/FactSystem/ParameterLoader.h

@@ -105,6 +105,10 @@ protected:
     /// Base implementation adds generic meta data based on variant type. Derived class can override to provide
     /// more details meta data.
     virtual void _addMetaDataToFact(Fact* fact);
+
+    AutoPilotPlugin*    _autopilot;
+    Vehicle*            _vehicle;
+    MAVLinkProtocol*    _mavlink;
     
 private slots:
     void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
@@ -128,10 +132,6 @@ private:
     void _saveToEEPROM(void);
     void _checkInitialLoadComplete(void);
     
-    AutoPilotPlugin*    _autopilot;
-    Vehicle*            _vehicle;
-    MAVLinkProtocol*    _mavlink;
-    
     /// First mapping is by component id
     /// Second mapping is parameter name, to Fact* in QVariant
     QMap<int, QVariantMap>            _mapParameterName2Variant;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -26,6 +26,7 @@
 
 #include "APMFirmwarePlugin.h"
 #include "Generic/GenericFirmwarePlugin.h"
+#include "AutoPilotPlugins/APM/APMAutoPilotPlugin.h"    // FIXME: Hack
 #include "QGCMAVLink.h"
 
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
@@ -138,8 +139,9 @@ QString APMCustomMode::modeString() const
     return mode;
 }
 
-APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) :
-    FirmwarePlugin(parent)
+APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent)
+    : FirmwarePlugin(parent)
+    , _parameterLoader(NULL)
 {
      _textSeverityAdjustmentNeeded = false;
 }
@@ -384,3 +386,19 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     // APM stack wants the home position sent in the first position
     return true;
 }
+
+ParameterLoader* APMFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+{
+    if (!_parameterLoader) {
+        _parameterLoader = new APMParameterLoader(autopilotPlugin, vehicle, this);
+        Q_CHECK_PTR(_parameterLoader);
+
+        // FIXME: Why do I need SIGNAL/SLOT to make this work
+        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
+        connect(_parameterLoader, &APMParameterLoader::parameterListProgress,   autopilotPlugin, &APMAutoPilotPlugin::parameterListProgress);
+
+        _parameterLoader->loadParameterFactMetaData();
+    }
+
+    return _parameterLoader;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -29,6 +29,7 @@
 
 #include "FirmwarePlugin.h"
 #include "QGCLoggingCategory.h"
+#include "APMParameterLoader.h"
 
 Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
 
@@ -88,6 +89,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
+    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
 
 protected:
     /// All access to singleton is through stack specific implementation
@@ -101,7 +103,7 @@ private:
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
     QList<APMCustomMode>    _supportedModes;
-
+    APMParameterLoader*     _parameterLoader;
 };
 
 #endif

src/FirmwarePlugin/APM/APMParameterLoader.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/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "APMParameterLoader.h"
+#include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
+
+#include <QFile>
+#include <QFileInfo>
+#include <QDir>
+#include <QDebug>
+
+QGC_LOGGING_CATEGORY(APMParameterLoaderLog, "APMParameterLoaderLog")
+
+bool APMParameterLoader::_parameterMetaDataLoaded = false;
+QMap<QString, FactMetaData*> APMParameterLoader::_mapParameterName2FactMetaData;
+
+APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
+    ParameterLoader(autopilot, vehicle, parent)
+{
+    Q_ASSERT(vehicle);
+}
+
+/// Converts a string to a typed QVariant
+///     @param string String to convert
+///     @param type Type for Fact which dictates the QVariant type as well
+///     @param convertOk Returned: true: conversion success, false: conversion failure
+/// @return Returns the correctly type QVariant
+QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
+{
+    QVariant var(string);
+
+    int convertTo = QVariant::Int; // keep compiler warning happy
+    switch (type) {
+        case FactMetaData::valueTypeUint8:
+        case FactMetaData::valueTypeUint16:
+        case FactMetaData::valueTypeUint32:
+            convertTo = QVariant::UInt;
+            break;
+        case FactMetaData::valueTypeInt8:
+        case FactMetaData::valueTypeInt16:
+        case FactMetaData::valueTypeInt32:
+            convertTo = QVariant::Int;
+            break;
+        case FactMetaData::valueTypeFloat:
+            convertTo = QMetaType::Float;
+            break;
+        case FactMetaData::valueTypeDouble:
+            convertTo = QVariant::Double;
+            break;
+    }
+    
+    *convertOk = var.convert(convertTo);
+    
+    return var;
+}
+
+/// Load Parameter Fact meta data
+///
+/// The meta data comes from firmware parameters.xml file.
+void APMParameterLoader::loadParameterFactMetaData(void)
+{
+    if (_parameterMetaDataLoaded) {
+        return;
+    }
+    _parameterMetaDataLoaded = true;
+
+    // FIXME: NYI
+
+    // Static meta data should load all MAV_TYPEs from single meta data file in such a way that the loader
+    // has multiple sets of static meta data
+}
+
+void APMParameterLoader::clearStaticData(void)
+{
+    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
+        delete _mapParameterName2FactMetaData[parameterName];
+    }
+    _mapParameterName2FactMetaData.clear();
+    _parameterMetaDataLoaded = false;
+}
+
+/// Override from FactLoad which connects the meta data to the fact
+void APMParameterLoader::_addMetaDataToFact(Fact* fact)
+{
+    // FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
+
+    // Use generic meta data
+    ParameterLoader::_addMetaDataToFact(fact);
+}

src/FirmwarePlugin/APM/APMParameterLoader.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/>.
+ 
+ ======================================================================*/
+
+#ifndef APMParameterLoader_H
+#define APMParameterLoader_H
+
+#include <QObject>
+#include <QMap>
+#include <QXmlStreamReader>
+#include <QLoggingCategory>
+
+#include "ParameterLoader.h"
+#include "FactSystem.h"
+#include "AutoPilotPlugin.h"
+#include "Vehicle.h"
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+Q_DECLARE_LOGGING_CATEGORY(APMParameterLoaderLog)
+
+/// Collection of Parameter Facts for PX4 AutoPilot
+
+class APMParameterLoader : public ParameterLoader
+{
+    Q_OBJECT
+    
+public:
+    /// @param uas Uas which this set of facts is associated with
+    APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+
+    /// Override from ParameterLoader
+    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
+    
+    static void loadParameterFactMetaData(void);
+    static void clearStaticData(void);
+    
+private:
+    enum {
+        XmlStateNone,
+        XmlStateFoundParameters,
+        XmlStateFoundVersion,
+        XmlStateFoundGroup,
+        XmlStateFoundParameter,
+        XmlStateDone
+    };
+    
+    // Overrides from ParameterLoader
+    virtual void _addMetaDataToFact(Fact* fact);
+
+    // Class methods
+    static 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
+};
+
+#endif

src/FirmwarePlugin/FirmwarePlugin.h

@@ -105,6 +105,9 @@ public:
     ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
     virtual bool sendHomePositionToVehicle(void) = 0;
     
+    /// Returns the ParameterLoader
+    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle) = 0;
+    
 protected:
     FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }
 };

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -25,13 +25,15 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "GenericFirmwarePlugin.h"
+#include "AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h"    // FIXME: Hack
 
 #include <QDebug>
 
 IMPLEMENT_QGC_SINGLETON(GenericFirmwarePlugin, FirmwarePlugin)
 
-GenericFirmwarePlugin::GenericFirmwarePlugin(QObject* parent) :
-    FirmwarePlugin(parent)
+GenericFirmwarePlugin::GenericFirmwarePlugin(QObject* parent)
+    : FirmwarePlugin(parent)
+    , _parameterLoader(NULL)
 {
     
 }
@@ -118,3 +120,17 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
     // This is the mavlink spec default.
     return false;
 }
+
+ParameterLoader* GenericFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+{
+    if (!_parameterLoader) {
+        _parameterLoader = new GenericParameterLoader(autopilotPlugin, vehicle, this);
+        Q_CHECK_PTR(_parameterLoader);
+
+        // FIXME: Why do I need SIGNAL/SLOT to make this work
+        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                    autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
+        connect(_parameterLoader, &GenericParameterLoader::parameterListProgress,   autopilotPlugin, &GenericAutoPilotPlugin::parameterListProgress);
+    }
+
+    return _parameterLoader;
+}

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -28,6 +28,7 @@
 #define GenericFirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
+#include "GenericParameterLoader.h"
 
 class GenericFirmwarePlugin : public FirmwarePlugin
 {
@@ -47,10 +48,13 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
+    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     GenericFirmwarePlugin(QObject* parent = NULL);
+
+    GenericParameterLoader* _parameterLoader;
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericParameterFacts.cc → src/FirmwarePlugin/Generic/GenericParameterLoader.cc

@@ -21,15 +21,17 @@
  
  ======================================================================*/
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
+#include "GenericParameterLoader.h"
 
-#include "GenericParameterFacts.h"
-
-#include <QDebug>
-
-GenericParameterFacts::GenericParameterFacts(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
+GenericParameterLoader::GenericParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
     ParameterLoader(autopilot, vehicle, parent)
 {
     Q_ASSERT(vehicle);
 }
+
+/// Override from ParameterLoader which connects the meta data to the fact
+void GenericParameterLoader::_addMetaDataToFact(Fact* fact)
+{
+    // Use generic meta data
+    ParameterLoader::_addMetaDataToFact(fact);
+}

src/AutoPilotPlugins/Generic/GenericParameterFacts.h → src/FirmwarePlugin/Generic/GenericParameterLoader.h

@@ -21,30 +21,28 @@
  
  ======================================================================*/
 
-#ifndef GenericParameterFacts_h
-#define GenericParameterFacts_h
-
-#include <QObject>
+#ifndef GenericParameterLoader_H
+#define GenericParameterLoader_H
 
 #include "ParameterLoader.h"
-#include "UASInterface.h"
+#include "FactSystem.h"
 #include "AutoPilotPlugin.h"
+#include "Vehicle.h"
 
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-/// Collection of Parameter Facts for Generic AutoPilot
-
-class GenericParameterFacts : public ParameterLoader
+class GenericParameterLoader : public ParameterLoader
 {
     Q_OBJECT
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    GenericParameterFacts(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
-    
+    GenericParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+
     /// Override from ParameterLoader
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }
+    
+private:
+    // Overrides from ParameterLoader
+    virtual void _addMetaDataToFact(Fact* fact);
 };
 
-#endif
\ No newline at end of file
+#endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -25,6 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "PX4FirmwarePlugin.h"
+#include "AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h"    // FIXME: Hack
 
 #include <QDebug>
 
@@ -85,8 +86,9 @@ static const struct Modes2Name rgModes2Name[] = {
 };
 
 
-PX4FirmwarePlugin::PX4FirmwarePlugin(QObject* parent) :
-    FirmwarePlugin(parent)
+PX4FirmwarePlugin::PX4FirmwarePlugin(QObject* parent)
+    : FirmwarePlugin(parent)
+    , _parameterLoader(NULL)
 {
     
 }
@@ -207,3 +209,19 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
     // Subsequent sequence numbers must be adjusted.
     return false;
 }
+
+ParameterLoader* PX4FirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+{
+    if (!_parameterLoader) {
+        _parameterLoader = new PX4ParameterLoader(autopilotPlugin, vehicle, this);
+        Q_CHECK_PTR(_parameterLoader);
+
+        // FIXME: Why do I need SIGNAL/SLOT to make this work
+        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
+        connect(_parameterLoader, &PX4ParameterLoader::parameterListProgress,   autopilotPlugin, &PX4AutoPilotPlugin::parameterListProgress);
+
+        _parameterLoader->loadParameterFactMetaData();
+    }
+
+    return _parameterLoader;
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -28,6 +28,7 @@
 #define PX4FirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
+#include "PX4ParameterLoader.h"
 
 class PX4FirmwarePlugin : public FirmwarePlugin
 {
@@ -47,10 +48,13 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
+    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     PX4FirmwarePlugin(QObject* parent = NULL);
+
+    PX4ParameterLoader* _parameterLoader;
 };
 
 #endif