Merge pull request #1800 from DonLakeFlyer/MultiVehicleManager

New MultiVehicleManager, Vehicle objects

QGCApplication.pro

@@ -260,7 +260,6 @@ HEADERS += \
     src/QmlControls/ParameterEditorController.h \
     src/QmlControls/ScreenToolsController.h \
     src/SerialPortIds.h \
-    src/uas/QGCMAVLinkUASFactory.h \
     src/uas/FileManager.h \
     src/uas/UAS.h \
     src/uas/UASInterface.h \
@@ -394,7 +393,6 @@ SOURCES += \
     src/QmlControls/MavManager.cc \
     src/QmlControls/ParameterEditorController.cc \
     src/QmlControls/ScreenToolsController.cc \
-    src/uas/QGCMAVLinkUASFactory.cc \
     src/uas/FileManager.cc \
     src/uas/UAS.cc \
     src/uas/UASManager.cc \
@@ -559,15 +557,12 @@ SOURCES += \
 #
 
 INCLUDEPATH += \
+    src/AutoPilotPlugins/PX4 \
     src/FirmwarePlugin \
+    src/Vehicle \
     src/VehicleSetup \
-    src/AutoPilotPlugins/PX4 \
 
 HEADERS+= \
-    src/FirmwarePlugin/FirmwarePluginManager.h \
-    src/FirmwarePlugin/FirmwarePlugin.h \
-    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
-    src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/AutoPilotPluginManager.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
@@ -587,6 +582,12 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/SafetyComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponentController.h \
+    src/FirmwarePlugin/FirmwarePluginManager.h \
+    src/FirmwarePlugin/FirmwarePlugin.h \
+    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
+    src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
+    src/Vehicle/MultiVehicleManager.h \
+    src/Vehicle/Vehicle.h \
     src/VehicleSetup/SetupView.h \
     src/VehicleSetup/VehicleComponent.h \
 
@@ -600,9 +601,6 @@ HEADERS += \
 }
 
 SOURCES += \
-    src/FirmwarePlugin/FirmwarePluginManager.cc \
-    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
-    src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
     src/AutoPilotPlugins/AutoPilotPlugin.cc \
     src/AutoPilotPlugins/AutoPilotPluginManager.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
@@ -622,6 +620,11 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
+    src/FirmwarePlugin/FirmwarePluginManager.cc \
+    src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
+    src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
+    src/Vehicle/MultiVehicleManager.cc \
+    src/Vehicle/Vehicle.cc \
     src/VehicleSetup/SetupView.cc \
     src/VehicleSetup/VehicleComponent.cc \
 

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -30,16 +30,16 @@
 #include "MainWindow.h"
 #include "ParameterLoader.h"
 
-AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
+AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     QObject(parent),
-    _uas(uas),
+    _vehicle(vehicle),
     _pluginReady(false),
 	_setupComplete(false)
 {
-    Q_ASSERT(_uas);
+    Q_ASSERT(vehicle);
 	
-	connect(_uas, &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
-    connect(_uas, &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
+	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
+    connect(_vehicle->uas(), &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
 
 	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
 }
@@ -102,8 +102,8 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
     mavlink_message_t msg;
     MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
 
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _uas->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 0, 2, -1, 0, 0, 0, 0, 0);
-    _uas->sendMessage(msg);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->uas()->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 0, 2, -1, 0, 0, 0, 0, 0);
+    _vehicle->sendMessage(msg);
 }
 
 void AutoPilotPlugin::refreshAllParameters(void)
@@ -169,7 +169,7 @@ const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-	_getParameterLoader()->writeParametersToStream(stream, _uas->getUASName());
+	_getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
@@ -179,5 +179,5 @@ QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 
 bool AutoPilotPlugin::armed(void)
 {
-    return _uas->isArmed();
+    return _vehicle->uas()->isArmed();
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -32,11 +32,12 @@
 #include <QString>
 #include <QQmlContext>
 
-#include "UASInterface.h"
 #include "VehicleComponent.h"
 #include "FactSystem.h"
+#include "Vehicle.h"
 
 class ParameterLoader;
+class Vehicle;
 
 /// This is the base class for AutoPilot plugins
 ///
@@ -50,7 +51,7 @@ class AutoPilotPlugin : public QObject
     Q_OBJECT
 
 public:
-    AutoPilotPlugin(UASInterface* uas, QObject* parent);
+    AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
     
 	/// true: plugin is ready for use, plugin should no longer be used
@@ -119,7 +120,7 @@ public:
 	bool setupComplete(void);
     bool armed(void);
 	
-    UASInterface* uas(void) { return _uas; }
+    Vehicle* vehicle(void) { return _vehicle; }
     
 signals:
     void pluginReadyChanged(bool pluginReady);
@@ -134,9 +135,9 @@ protected:
 	/// Returns the ParameterLoader
 	virtual ParameterLoader* _getParameterLoader(void) = 0;
 	
-    UASInterface*   _uas;
-    bool            _pluginReady;
-	bool			_setupComplete;
+    Vehicle*    _vehicle;
+    bool        _pluginReady;
+	bool		_setupComplete;
 	
 private slots:
 	void _uasDisconnected(void);

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -27,98 +27,26 @@
 #include "AutoPilotPluginManager.h"
 #include "PX4/PX4AutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
-#include "QGCApplication.h"
-#include "QGCMessageBox.h"
-#include "UASManager.h"
 
 IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
     QGCSingleton(parent)
 {
-    UASManagerInterface* uasMgr = UASManager::instance();
-    Q_ASSERT(uasMgr);
-    
-    // We need to track uas coming and going so that we can instantiate plugins for each uas
-    connect(uasMgr, &UASManagerInterface::UASCreated, this, &AutoPilotPluginManager::_uasCreated);
-    connect(uasMgr, SIGNAL(UASDeleted(UASInterface*)), this, SLOT(_uasDeleted(UASInterface*)));
+
 }
 
 AutoPilotPluginManager::~AutoPilotPluginManager()
 {
-#ifdef QT_DEBUG
-    foreach(MAV_AUTOPILOT mavType, _pluginMap.keys()) {
-        Q_ASSERT_X(_pluginMap[mavType].count() == 0, "AutoPilotPluginManager", "LinkManager::_shutdown should have already closed all uas");
-    }
-#endif
-    _pluginMap.clear();
-    
     PX4AutoPilotPlugin::clearStaticData();
     GenericAutoPilotPlugin::clearStaticData();
 }
 
-/// Create the plugin for this uas
-void AutoPilotPluginManager::_uasCreated(UASInterface* uas)
-{
-    Q_ASSERT(uas);
-    
-    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
-    int uasId = uas->getUASID();
-    Q_ASSERT(uasId != 0);
-    
-    if (_pluginMap.contains(autopilotType)) {
-        Q_ASSERT_X(!_pluginMap[autopilotType].contains(uasId), "AutoPilotPluginManager", "Either we have duplicate UAS ids, or a UAS was not removed correctly.");
-    }
-
-    AutoPilotPlugin* plugin;
-    switch (autopilotType) {
-        case MAV_AUTOPILOT_PX4:
-            plugin = new PX4AutoPilotPlugin(uas, this);
-            Q_CHECK_PTR(plugin);
-            _pluginMap[MAV_AUTOPILOT_PX4][uasId] = QSharedPointer<AutoPilotPlugin>(plugin);
-            break;
-        case MAV_AUTOPILOT_GENERIC:
-        default:
-            plugin = new GenericAutoPilotPlugin(uas, this);
-            Q_CHECK_PTR(plugin);
-            _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = QSharedPointer<AutoPilotPlugin>(plugin);
-            QGCMessageBox::warning("Partial Support AutoPilot",
-                                   "Warning: You have connected QGroundControl to a firmware flight stack which is only partially supported. "
-                                   "If you are using the APM Flight Stack it is currently recommended to use Mission Planner, APM Planner or Tower as your ground control station.");
-    }
-}
-
-/// Destroy the plugin associated with this uas
-void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
+AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
 {
-    Q_ASSERT(uas);
-    
-    MAV_AUTOPILOT autopilotType = _installedAutopilotType(static_cast<MAV_AUTOPILOT>(uas->getAutopilotType()));
-    int uasId = uas->getUASID();
-    Q_ASSERT(uasId != 0);
-    
-    if (_pluginMap.contains(autopilotType) && _pluginMap[autopilotType].contains(uasId)) {
-        _pluginMap[autopilotType][uasId].clear();
-        _pluginMap[autopilotType].remove(uasId);
+    if (vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
+        return new PX4AutoPilotPlugin(vehicle, vehicle);
+    } else {
+        return new GenericAutoPilotPlugin(vehicle, vehicle);
     }
 }
-
-QSharedPointer<AutoPilotPlugin> AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
-{
-    Q_ASSERT(uas);
-    
-    MAV_AUTOPILOT autopilotType = _installedAutopilotType(static_cast<MAV_AUTOPILOT>(uas->getAutopilotType()));
-    int uasId = uas->getUASID();
-    Q_ASSERT(uasId != 0);
-    
-    Q_ASSERT(_pluginMap.contains(autopilotType));
-    Q_ASSERT(_pluginMap[autopilotType].contains(uasId));
-    
-    return _pluginMap[autopilotType][uasId];
-}
-
-/// If autopilot is not an installed plugin, returns MAV_AUTOPILOT_GENERIC
-MAV_AUTOPILOT AutoPilotPluginManager::_installedAutopilotType(MAV_AUTOPILOT autopilot)
-{
-    return _pluginMap.contains(autopilot) ? autopilot : MAV_AUTOPILOT_GENERIC;
-}

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -31,12 +31,9 @@
 #include <QList>
 #include <QString>
 
-#include "UASInterface.h"
-#include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
 #include "QGCSingleton.h"
-#include "QGCMAVLink.h"
-
+#include "Vehicle.h"
 
 /// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
 
@@ -47,23 +44,12 @@ class AutoPilotPluginManager : public QGCSingleton
     DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 public:
-    /// Returns the singleton AutoPilotPlugin instance for the specified uas. Returned as QSharedPointer
-    /// to prevent shutdown ordering problems with Qml destruction happening after Facts are destroyed.
-    ///     @param uas Uas to get plugin for
-    QSharedPointer<AutoPilotPlugin> getInstanceForAutoPilotPlugin(UASInterface* uas);
-
-private slots:
-    void _uasCreated(UASInterface* uas);
-    void _uasDeleted(UASInterface* uas);
-
+    AutoPilotPlugin* newAutopilotPluginForVehicle(Vehicle* vehicle);
+    
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     AutoPilotPluginManager(QObject* parent = NULL);
     ~AutoPilotPluginManager();
-    
-    MAV_AUTOPILOT _installedAutopilotType(MAV_AUTOPILOT autopilot);
-    
-    QMap<MAV_AUTOPILOT, QMap<int, QSharedPointer<AutoPilotPlugin> > > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -26,12 +26,12 @@
 
 #include "GenericAutoPilotPlugin.h"
 
-GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
-    AutoPilotPlugin(uas, parent)
+GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
+    AutoPilotPlugin(vehicle, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     
-    _parameterFacts = new GenericParameterFacts(this, uas, this);
+    _parameterFacts = new GenericParameterFacts(this, vehicle, this);
     Q_CHECK_PTR(_parameterFacts);
     
     connect(_parameterFacts, &GenericParameterFacts::parametersReady, this, &GenericAutoPilotPlugin::_parametersReady);

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -25,7 +25,6 @@
 #define GENERICAUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
-#include "AutoPilotPluginManager.h"
 #include "GenericParameterFacts.h"
 
 /// @file
@@ -38,7 +37,7 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
+    GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);

src/AutoPilotPlugins/Generic/GenericParameterFacts.cc

@@ -28,8 +28,8 @@
 
 #include <QDebug>
 
-GenericParameterFacts::GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) :
-    ParameterLoader(autopilot, uas, parent)
+GenericParameterFacts::GenericParameterFacts(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
+    ParameterLoader(autopilot, vehicle, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
 }

src/AutoPilotPlugins/Generic/GenericParameterFacts.h

@@ -41,7 +41,7 @@ class GenericParameterFacts : public ParameterLoader
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    GenericParameterFacts(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL);
+    GenericParameterFacts(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
     
     /// Override from ParameterLoader
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -27,7 +27,7 @@
 #include "AirframeComponentController.h"
 #include "AirframeComponentAirframes.h"
 #include "QGCMAVLink.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "AutoPilotPluginManager.h"
 #include "QGCApplication.h"
 #include "QGCMessageBox.h"
@@ -98,7 +98,7 @@ AirframeComponentController::~AirframeComponentController()
 
 void AirframeComponentController::changeAutostart(void)
 {
-	if (UASManager::instance()->getUASList().count() > 1) {
+	if (MultiVehicleManager::instance()->vehicles().count() > 1) {
 		QGCMessageBox::warning("Airframe Config", "You cannot change airframe configuration while connected to multiple vehicles.");
 		return;
 	}

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -26,7 +26,6 @@
 
 #include "FlightModesComponentController.h"
 #include "QGCMAVLink.h"
-#include "UASManager.h"
 #include "AutoPilotPluginManager.h"
 
 #include <QVariant>

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -23,7 +23,6 @@
 
 #include "PX4AutoPilotPlugin.h"
 #include "AutoPilotPluginManager.h"
-#include "UASManager.h"
 #include "PX4ParameterLoader.h"
 #include "PX4AirframeLoader.h"
 #include "FlightModesComponentController.h"
@@ -64,8 +63,8 @@ union px4_custom_mode {
     float data_float;
 };
 
-PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
-    AutoPilotPlugin(uas, parent),
+PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
+    AutoPilotPlugin(vehicle, parent),
     _parameterFacts(NULL),
     _airframeComponent(NULL),
     _radioComponent(NULL),
@@ -75,15 +74,15 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     _powerComponent(NULL),
     _incorrectParameterVersion(false)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     
-    _parameterFacts = new PX4ParameterLoader(this, uas, this);
+    _parameterFacts = new PX4ParameterLoader(this, vehicle, this);
     Q_CHECK_PTR(_parameterFacts);
     
     connect(_parameterFacts, &PX4ParameterLoader::parametersReady, this, &PX4AutoPilotPlugin::_pluginReadyPreChecks);
     connect(_parameterFacts, &PX4ParameterLoader::parameterListProgress, this, &PX4AutoPilotPlugin::parameterListProgress);
 
-    _airframeFacts = new PX4AirframeLoader(this, uas, this);
+    _airframeFacts = new PX4AirframeLoader(this, _vehicle->uas(), this);
     Q_CHECK_PTR(_airframeFacts);
     
     PX4ParameterLoader::loadParameterFactMetaData();
@@ -105,7 +104,7 @@ void PX4AutoPilotPlugin::clearStaticData(void)
 const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {
-        Q_ASSERT(_uas);
+        Q_ASSERT(_vehicle);
         
         if (pluginReady()) {
             bool noRCTransmitter = false;
@@ -114,34 +113,34 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                 noRCTransmitter = rcFact->value().toInt() == 1;
             }
 
-            _airframeComponent = new AirframeComponent(_uas, this);
+            _airframeComponent = new AirframeComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
             if (!noRCTransmitter) {
-                _radioComponent = new RadioComponent(_uas, this);
+                _radioComponent = new RadioComponent(_vehicle->uas(), this);
                 Q_CHECK_PTR(_radioComponent);
                 _radioComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
                 
-                _flightModesComponent = new FlightModesComponent(_uas, this);
+                _flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
                 Q_CHECK_PTR(_flightModesComponent);
                 _flightModesComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
             }
             
-            _sensorsComponent = new SensorsComponent(_uas, this);
+            _sensorsComponent = new SensorsComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_sensorsComponent);
             _sensorsComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
             
-            _powerComponent = new PowerComponent(_uas, this);
+            _powerComponent = new PowerComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_powerComponent);
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
             
-            _safetyComponent = new SafetyComponent(_uas, this);
+            _safetyComponent = new SafetyComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_safetyComponent);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -25,8 +25,6 @@
 #define PX4AUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
-#include "AutoPilotPluginManager.h"
-#include "UASInterface.h"
 #include "PX4ParameterLoader.h"
 #include "PX4AirframeLoader.h"
 #include "AirframeComponent.h"
@@ -35,6 +33,7 @@
 #include "SensorsComponent.h"
 #include "SafetyComponent.h"
 #include "PowerComponent.h"
+#include "Vehicle.h"
 
 #include <QImage>
 
@@ -47,7 +46,7 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    PX4AutoPilotPlugin(UASInterface* uas, QObject* parent);
+    PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin

src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc

@@ -38,10 +38,10 @@ QGC_LOGGING_CATEGORY(PX4ParameterLoaderLog, "PX4ParameterLoaderLog")
 bool PX4ParameterLoader::_parameterMetaDataLoaded = false;
 QMap<QString, FactMetaData*> PX4ParameterLoader::_mapParameterName2FactMetaData;
 
-PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) :
-    ParameterLoader(autopilot, uas, parent)
+PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
+    ParameterLoader(autopilot, vehicle, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
 }
 
 /// Converts a string to a typed QVariant

src/AutoPilotPlugins/PX4/PX4ParameterLoader.h

@@ -31,8 +31,8 @@
 
 #include "ParameterLoader.h"
 #include "FactSystem.h"
-#include "UASInterface.h"
 #include "AutoPilotPlugin.h"
+#include "Vehicle.h"
 
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
@@ -47,7 +47,7 @@ class PX4ParameterLoader : public ParameterLoader
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    PX4ParameterLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
+    PX4ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
 
     /// Override from ParameterLoader
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }

src/AutoPilotPlugins/PX4/PowerComponentController.cc

@@ -26,7 +26,6 @@
 
 #include "PowerComponentController.h"
 #include "QGCMAVLink.h"
-#include "UASManager.h"
 #include "QGCMessageBox.h"
 
 #include <QVariant>
@@ -71,7 +70,7 @@ void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->uas();
+    UASInterface* uas = _autopilot->vehicle()->uas();
     Q_ASSERT(uas);
     if (uasId != uas->getUASID()) {
         return;

src/AutoPilotPlugins/PX4/RadioComponentController.cc

@@ -26,7 +26,6 @@
 ///     @author Don Gagne <don@thegagnes.com
 
 #include "RadioComponentController.h"
-#include "UASManager.h"
 #include "QGCMessageBox.h"
 #include "AutoPilotPluginManager.h"
 

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -26,7 +26,6 @@
 
 #include "SensorsComponentController.h"
 #include "QGCMAVLink.h"
-#include "UASManager.h"
 #include "QGCMessageBox.h"
 
 #include <QVariant>
@@ -208,7 +207,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->uas();
+    UASInterface* uas = _autopilot->vehicle()->uas();
     Q_ASSERT(uas);
     if (uasId != uas->getUASID()) {
         return;
@@ -427,7 +426,7 @@ void SensorsComponentController::_refreshParams(void)
 
 bool SensorsComponentController::fixedWing(void)
 {
-    UASInterface* uas = _autopilot->uas();
+    UASInterface* uas = _autopilot->vehicle()->uas();
     Q_ASSERT(uas);
     return uas->getSystemType() == MAV_TYPE_FIXED_WING ||
             uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||

src/FactSystem/FactControls/FactPanelController.cc

@@ -22,8 +22,7 @@
  ======================================================================*/
 
 #include "FactPanelController.h"
-#include "UASManager.h"
-#include "AutoPilotPluginManager.h"
+#include "MultiVehicleManager.h"
 #include "QGCMessageBox.h"
 
 #include <QQmlEngine>
@@ -34,15 +33,15 @@
 QGC_LOGGING_CATEGORY(FactPanelControllerLog, "FactPanelControllerLog")
 
 FactPanelController::FactPanelController(void) :
-	_autopilot(NULL),
     _factPanel(NULL)
 {
-    // FIXME: Get rid of these asserts
+    _vehicle = MultiVehicleManager::instance()->activeVehicle();
+    Q_ASSERT(_vehicle);
     
-    _uas = UASManager::instance()->getActiveUAS();
+    _uas = _vehicle->uas();
     Q_ASSERT(_uas);
     
-    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
+    _autopilot = _vehicle->autopilotPlugin();
     Q_ASSERT(_autopilot);
     Q_ASSERT(_autopilot->pluginReady());
     

src/FactSystem/FactControls/FactPanelController.h

@@ -32,7 +32,6 @@
 
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
-#include "UASManagerInterface.h"
 #include "QGCLoggingCategory.h"
 
 Q_DECLARE_LOGGING_CATEGORY(FactPanelControllerLog)
@@ -62,8 +61,9 @@ protected:
     /// Report a missing parameter to the FactPanel Qml element
     void _reportMissingParameter(int componentId, const QString& name);
     
-    UASInterface*                   _uas;
-	QSharedPointer<AutoPilotPlugin> _autopilot;
+    Vehicle*            _vehicle;
+    UASInterface*       _uas;
+    AutoPilotPlugin*    _autopilot;
     
 private slots:
     void _checkForMissingFactPanel(void);

src/FactSystem/FactSystem.cc

@@ -25,8 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FactSystem.h"
-#include "UASManager.h"
-#include "QGCApplication.h"
 #include "FactPanelController.h"
 
 #include <QtQml>

src/FactSystem/FactSystemTestBase.cc

@@ -27,8 +27,7 @@
 #include "FactSystemTestBase.h"
 #include "LinkManager.h"
 #include "MockLink.h"
-#include "AutoPilotPluginManager.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "QGCApplication.h"
 #include "QGCMessageBox.h"
 #include "QGCQuickWidget.h"
@@ -45,45 +44,20 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
 {
     UnitTest::init();
     
-    LinkManager* _linkMgr = LinkManager::instance();
-    
     MockLink* link = new MockLink();
     link->setAutopilotType(autopilot);
-    _linkMgr->_addLink(link);
-    
-    if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-        // Connect will pop a warning dialog
-        setExpectedMessageBox(QGCMessageBox::Ok);
-    }
-    _linkMgr->connectLink(link);
-    
-    // Wait for the uas to work it's way through the various threads
-
-    QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)));
-    QCOMPARE(spyUas.wait(5000), true);
+    LinkManager::instance()->_addLink(link);
     
-    if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-        checkExpectedMessageBox();
-    }
+    LinkManager::instance()->connectLink(link);
     
-    _uas = UASManager::instance()->getActiveUAS();
-    Q_ASSERT(_uas);
+    // Wait for the Vehicle to get created
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
+    QCOMPARE(spyVehicle.wait(5000), true);
+    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
+    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
     
-    // Get the plugin for the uas
-    
-    AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
-    Q_ASSERT(pluginMgr);
-    
-    _plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas).data();
+    _plugin = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
     Q_ASSERT(_plugin);
-
-    // Wait for the plugin to be ready
-    
-    QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReadyChanged(bool)));
-    if (!_plugin->pluginReady()) {
-        QCOMPARE(spyPlugin.wait(60000), true);
-    }
-    Q_ASSERT(_plugin->pluginReady());
 }
 
 void FactSystemTestBase::_cleanup(void)

src/FactSystem/FactSystemTestBase.h

@@ -48,9 +48,7 @@ protected:
     void _qml_test(void);
     void _qmlUpdate_test(void);
     
-    UASInterface*                   _uas;
     AutoPilotPlugin*                _plugin;
-    LinkManager*                    _linkMgr;
 };
 
 #endif

src/FactSystem/FactSystemTestGeneric.cc

@@ -25,14 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FactSystemTestGeneric.h"
-#include "LinkManager.h"
-#include "MockLink.h"
-#include "AutoPilotPluginManager.h"
-#include "UASManager.h"
-#include "QGCApplication.h"
-#include "QGCQuickWidget.h"
-
-#include <QQuickItem>
+#include "QGCMAVLink.h"
 
 UT_REGISTER_TEST(FactSystemTestGeneric)
 

src/FactSystem/FactSystemTestPX4.cc

@@ -25,14 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FactSystemTestPX4.h"
-#include "LinkManager.h"
-#include "MockLink.h"
-#include "AutoPilotPluginManager.h"
-#include "UASManager.h"
-#include "QGCApplication.h"
-#include "QGCQuickWidget.h"
-
-#include <QQuickItem>
+#include "QGCMAVLink.h"
 
 UT_REGISTER_TEST(FactSystemTestPX4)
 

src/FactSystem/ParameterLoader.cc

@@ -38,10 +38,10 @@ QGC_LOGGING_CATEGORY(ParameterLoaderLog, "ParameterLoaderLog")
 
 Fact ParameterLoader::_defaultFact;
 
-ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent) :
+ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
     QObject(parent),
     _autopilot(autopilot),
-    _uas(uas),
+    _vehicle(vehicle),
     _mavlink(MAVLinkProtocol::instance()),
     _parametersReady(false),
     _initialLoadComplete(false),
@@ -49,7 +49,7 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas,
     _totalParamCount(0)
 {
     Q_ASSERT(_autopilot);
-    Q_ASSERT(_uas);
+    Q_ASSERT(_vehicle);
     Q_ASSERT(_mavlink);
     
     // We signal this to ouselves in order to start timer on our thread
@@ -60,7 +60,7 @@ ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas,
     connect(&_waitingParamTimeoutTimer, &QTimer::timeout, this, &ParameterLoader::_waitingParamTimeout);
     
     // FIXME: Why not direct connect?
-    connect(_uas, SIGNAL(parameterUpdate(int, int, QString, int, int, int, QVariant)), this, SLOT(_parameterUpdate(int, int, QString, int, int, int, QVariant)));
+    connect(_vehicle->uas(), SIGNAL(parameterUpdate(int, int, QString, int, int, int, QVariant)), this, SLOT(_parameterUpdate(int, int, QString, int, int, int, QVariant)));
     
     // Request full param list
     refreshAllParameters();
@@ -77,7 +77,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     bool setMetaData = false;
     
     // Is this for our uas?
-    if (uasId != _uas->getUASID()) {
+    if (uasId != _vehicle->id()) {
         return;
     }
     
@@ -297,8 +297,8 @@ void ParameterLoader::refreshAllParameters(void)
     Q_ASSERT(mavlink);
     
     mavlink_message_t msg;
-    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _uas->getUASID(), MAV_COMP_ID_ALL);
-    _uas->sendMessage(msg);
+    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL);
+    _vehicle->sendMessage(msg);
     
     qCDebug(ParameterLoaderLog) << "Request to refresh all parameters";
 }
@@ -490,16 +490,16 @@ void ParameterLoader::_readParameterRaw(int componentId, const QString& paramNam
     mavlink_msg_param_request_read_pack(_mavlink->getSystemId(),    // Our system id
                                         _mavlink->getComponentId(), // Our component id
                                         &msg,                       // Pack into this mavlink_message_t
-                                        _uas->getUASID(),           // Target system id
+                                        _vehicle->id(),             // Target system id
                                         componentId,                // Target component id
                                         fixedParamName,             // Named parameter being requested
                                         paramIndex);                // Parameter index being requested, -1 for named
-    _uas->sendMessage(msg);
+    _vehicle->sendMessage(msg);
 }
 
 void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
 {
-    bool floatHack = _uas->getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA;
+    bool floatHack = _vehicle->firmwareType() == MAV_AUTOPILOT_ARDUPILOTMEGA;
 
     mavlink_param_set_t     p;
     mavlink_param_union_t   union_value;
@@ -566,21 +566,21 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
     }
     
     p.param_value = union_value.param_float;
-    p.target_system = (uint8_t)_uas->getUASID();
+    p.target_system = (uint8_t)_vehicle->id();
     p.target_component = (uint8_t)componentId;
         
     strncpy(p.param_id, paramName.toStdString().c_str(), sizeof(p.param_id));
     
     mavlink_message_t msg;
     mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
-    _uas->sendMessage(msg);
+    _vehicle->sendMessage(msg);
 }
 
 void ParameterLoader::_saveToEEPROM(void)
 {
     mavlink_message_t msg;
-    mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _uas->getUASID(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
-    _uas->sendMessage(msg);
+    mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+    _vehicle->sendMessage(msg);
     qCDebug(ParameterLoaderLog) << "_saveToEEPROM";
 }
 
@@ -595,11 +595,11 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
             QStringList wpParams = line.split("\t");
             int lineMavId = wpParams.at(0).toInt();
             if (wpParams.size() == 5) {
-                if (!userWarned && (_uas->getUASID() != lineMavId)) {
+                if (!userWarned && (_vehicle->id() != lineMavId)) {
                     userWarned = true;
                     QString msg("The parameters in the stream have been saved from System Id %1, but the current vehicle has the System Id %2.");
                     QGCMessageBox::StandardButton button = QGCMessageBox::warning("Parameter Load",
-                                                                                  msg.arg(lineMavId).arg(_uas->getUASID()),
+                                                                                  msg.arg(lineMavId).arg(_vehicle->id()),
                                                                                   QGCMessageBox::Ok | QGCMessageBox::Cancel,
                                                                                   QGCMessageBox::Cancel);
                     if (button == QGCMessageBox::Cancel) {
@@ -649,7 +649,7 @@ void ParameterLoader::writeParametersToStream(QTextStream &stream, const QString
             Fact* fact = _mapParameterName2Variant[componentId][paramName].value<Fact*>();
             Q_ASSERT(fact);
             
-            stream << _uas->getUASID() << "\t" << componentId << "\t" << paramName << "\t" << fact->valueString() << "\t" << QString("%1").arg(_factTypeToMavType(fact->type())) << "\n";
+            stream << _vehicle->id() << "\t" << componentId << "\t" << paramName << "\t" << fact->valueString() << "\t" << QString("%1").arg(_factTypeToMavType(fact->type())) << "\n";
         }
     }
     

src/FactSystem/ParameterLoader.h

@@ -31,10 +31,10 @@
 #include <QMutex>
 
 #include "FactSystem.h"
-#include "UASInterface.h"
 #include "MAVLinkProtocol.h"
 #include "AutoPilotPlugin.h"
 #include "QGCMAVLink.h"
+#include "Vehicle.h"
 
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
@@ -48,7 +48,7 @@ class ParameterLoader : public QObject
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    ParameterLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent = NULL);
+    ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
     
     ~ParameterLoader();
     
@@ -123,7 +123,7 @@ private:
     void _checkInitialLoadComplete(void);
     
     AutoPilotPlugin*    _autopilot;
-    UASInterface*       _uas;
+    Vehicle*            _vehicle;
     MAVLinkProtocol*    _mavlink;
     
     /// First mapping is by component id

src/QGCApplication.cc

@@ -86,8 +86,10 @@ G_END_DECLS
 #include "VehicleComponent.h"
 #include "MavManager.h"
 #include "FirmwarePluginManager.h"
+#include "MultiVehicleManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
+#include "Vehicle.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -339,6 +341,7 @@ void QGCApplication::_initCommon(void)
     
     qmlRegisterUncreatableType<AutoPilotPlugin>("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", "Can only reference, cannot create");
     qmlRegisterUncreatableType<VehicleComponent>("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", "Can only reference, cannot create");
+    qmlRegisterUncreatableType<Vehicle>("QGroundControl.Vehicle", 1, 0, "Vehicle", "Can only reference, cannot create");
     
     qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
@@ -379,9 +382,6 @@ void QGCApplication::_initCommon(void)
                                       "Your saved settings have been reset to defaults."));
     }
 
-    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
-    _loadCurrentStyle();
-
     // Load saved files location and validate
 
     QString savedFilesLocation;
@@ -421,6 +421,9 @@ bool QGCApplication::_initForNormalAppBoot(void)
 
     _createSingletons();
 
+    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
+    _loadCurrentStyle();
+    
     // Show splash screen
     QPixmap splashImage(":/res/SplashScreen");
     QSplashScreen* splashScreen = new QSplashScreen(splashImage);
@@ -583,6 +586,11 @@ void QGCApplication::_createSingletons(void)
     Q_UNUSED(firmwarePluginManager);
     Q_ASSERT(firmwarePluginManager);
     
+    // No dependencies
+    MultiVehicleManager* multiVehicleManager = MultiVehicleManager::_createSingleton();
+    Q_UNUSED(multiVehicleManager);
+    Q_ASSERT(multiVehicleManager);
+    
     // No dependencies
     GAudioOutput* audio = GAudioOutput::_createSingleton();
     Q_UNUSED(audio);
@@ -631,11 +639,6 @@ void QGCApplication::_destroySingletons(void)
         LinkManager::instance()->_shutdown();
     }
 
-    if (UASManager::instance(true /* nullOk */)) {
-        // This will delete all uas from the system
-        UASManager::instance()->_shutdown();
-    }
-
     // Let the signals flow through the main thread
     processEvents(QEventLoop::ExcludeUserInputEvents);
 
@@ -648,6 +651,7 @@ void QGCApplication::_destroySingletons(void)
     UASManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
     GAudioOutput::_deleteSingleton();
+    MultiVehicleManager::_deleteSingleton();
     FirmwarePluginManager::_deleteSingleton();
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();

src/QGCQuickWidget.cc

@@ -24,6 +24,7 @@
 #include "QGCQuickWidget.h"
 #include "AutoPilotPluginManager.h"
 #include "QGCMessageBox.h"
+#include "MultiVehicleManager.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -38,6 +39,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     QQuickWidget(parent)
 {
     rootContext()->engine()->addImportPath("qrc:/qml");
+    rootContext()->setContextProperty("multiVehicleManager", MultiVehicleManager::instance());
 }
 
 void QGCQuickWidget::setAutoPilot(AutoPilotPlugin* autoPilot)

src/QmlControls/MavManager.cc

@@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UAS.h"
 #include "MainWindow.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "Waypoint.h"
 #include "MavManager.h"
 #include "UASMessageHandler.h"
@@ -76,9 +76,9 @@ MavManager::MavManager(QObject *parent)
     , _updateCount(0)
 {
     // Connect with UAS signal
-    _setActiveUAS(UASManager::instance()->getActiveUAS());
-    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)),   this, SLOT(_forgetUAS(UASInterface*)));
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MavManager::_activeVehicleChanged);
+    
     // Refresh timer
     connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
     _refreshTimer->setInterval(UPDATE_TIMER);
@@ -103,9 +103,10 @@ QString MavManager::loadSetting(const QString &name, const QString& defaultValue
     return settings.value(name, defaultValue).toString();
 }
 
-void MavManager::_forgetUAS(UASInterface* uas)
+void MavManager::_activeVehicleChanged(Vehicle* vehicle)
 {
-    if (_mav != NULL && _mav == uas) {
+    // Disconnect the previous one (if any)
+    if (_mav) {
         // Stop listening for system messages
         disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &MavManager::_handleTextMessage);
         // Disconnect any previously connected active MAV
@@ -139,25 +140,17 @@ void MavManager::_forgetUAS(UASInterface* uas)
         emit mavPresentChanged();
         emit satelliteCountChanged();
     }
-}
-
-void MavManager::_setActiveUAS(UASInterface* uas)
-{
-    if (uas == _mav)
-        return;
-    // Disconnect the previous one (if any)
-    if(_mav) {
-        _forgetUAS(_mav);
-    }
-    if (uas) {
+    
+    _mav = NULL;
+    
+    if (vehicle) {
+        _mav = vehicle->uas();
         // Reset satellite count (no GPS)
         _satelliteCount = -1;
         emit satelliteCountChanged();
         // Reset connection lost (if any)
         _currentHeartbeatTimeout = 0;
         emit heartbeatTimeoutChanged();
-        // Set new UAS
-        _mav = uas;
         // Listen for system messages
         connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &MavManager::_handleTextMessage);
         // Now connect the new UAS

src/QmlControls/MavManager.h

@@ -33,7 +33,9 @@ This file is part of the QGROUNDCONTROL project
 #include <QObject>
 #include <QTimer>
 #include <QQmlListProperty>
+
 #include "Waypoint.h"
+#include "Vehicle.h"
 
 class UASInterface;
 class UASWaypointManager;
@@ -172,6 +174,7 @@ signals:
     void waypointsChanged       ();
 
 private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
     void _handleTextMessage                 (int newCount);
     /** @brief Attitude from main autopilot / system state */
     void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
@@ -183,8 +186,6 @@ private slots:
     void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
     void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
-    void _forgetUAS                         (UASInterface* uas);
-    void _setActiveUAS                      (UASInterface* uas);
     void _checkUpdate                       ();
     void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
     void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);

src/QmlControls/ParameterEditorController.cc

@@ -25,7 +25,6 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "ParameterEditorController.h"
-#include "UASManager.h"
 #include "AutoPilotPluginManager.h"
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"

src/Vehicle/MultiVehicleManager.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 "MultiVehicleManager.h"
+#include "AutoPilotPlugin.h"
+
+IMPLEMENT_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
+
+MultiVehicleManager::MultiVehicleManager(QObject* parent) :
+    QGCSingleton(parent)
+    , _activeVehicleAvailable(false)
+    , _parameterReadyVehicleAvailable(false)
+    , _activeVehicle(NULL)
+    , _offlineWaypointManager(NULL)
+{
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+    qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
+}
+
+MultiVehicleManager::~MultiVehicleManager()
+{
+
+}
+
+bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat)
+{
+    if (!_vehicleMap.contains(vehicleId) && !_ignoreVehicleIds.contains(vehicleId)) {
+        if (vehicleId == MAVLinkProtocol::instance()->getSystemId()) {
+            qgcApp()->showToolBarMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
+        }
+        
+        QSettings settings;
+        bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
+        if (mavlinkVersionCheck && heartbeat.mavlink_version != MAVLINK_VERSION) {
+            _ignoreVehicleIds += vehicleId;
+            qgcApp()->showToolBarMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
+                                                 "It is unsafe to use different MAVLink versions. "
+                                                 "QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
+            return false;
+        }
+        
+        Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)heartbeat.autopilot);
+        
+        if (!vehicle) {
+            qWarning() << "New Vehicle allocation failed";
+            return false;
+        }
+        
+        connect(vehicle, &Vehicle::allLinksDisconnected, this, &MultiVehicleManager::_deleteVehiclePhase1);
+        connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::pluginReadyChanged, this, &MultiVehicleManager::_autopilotPluginReadyChanged);
+
+        _vehicleMap[vehicleId] = vehicle;
+        
+        emit vehicleAdded(vehicle);
+        
+        setActiveVehicle(vehicle);
+    }
+    
+    return true;
+}
+
+/// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
+/// and all other right things happen when the Vehicle goes away.
+void MultiVehicleManager::_deleteVehiclePhase1(void)
+{
+    Vehicle* vehicle = dynamic_cast<Vehicle*>(sender());
+    if (!vehicle) {
+        qWarning() << "Dynamic cast failed!";
+        return;
+    }
+    
+    _vehicleBeingDeleted = vehicle;
+
+    // Remove from map
+    bool found;
+    foreach(int id, _vehicleMap.keys()) {
+        if (_vehicleMap[id] == _vehicleBeingDeleted) {
+            _vehicleMap.remove(id);
+            found = true;
+            break;
+        }
+    }
+    if (!found) {
+        qWarning() << "Vehicle not found in map!";
+    }
+    
+    // First we must signal that a vehicle is no longer available.
+    _activeVehicleAvailable = false;
+    _parameterReadyVehicleAvailable = false;
+    emit activeVehicleAvailableChanged(false);
+    emit parameterReadyVehicleAvailableChanged(false);
+    emit vehicleRemoved(vehicle);
+    
+    // We must let the above signals flow through the system as well as get back to the main loop event queue
+    // before we can actually delete the Vehicle. The reason is that Qml may be holding on the references to it.
+    // Even though the above signals should unload any Qml which has references, that Qml will not be destroyed
+    // until we get back to the main loop. So we set a short timer which will then fire after Qt has finished
+    // doing all of its internal nastiness to clean up the Qml. This works for both the normal running case
+    // as well as the unit testing case whichof course has a different signal flow!
+    QTimer::singleShot(20, this, &MultiVehicleManager::_deleteVehiclePhase2);
+}
+
+void MultiVehicleManager::_deleteVehiclePhase2  (void)
+{
+    /// Qml has been notified of vehicle about to go away and should be disconnected from it by now.
+    /// This means we can now clear the active vehicle property and delete the Vehicle for real.
+    
+    Vehicle* newActiveVehicle = NULL;
+    if (_vehicleMap.count()) {
+        newActiveVehicle = _vehicleMap.first();
+    }
+    
+    _activeVehicle = newActiveVehicle;
+    emit activeVehicleChanged(newActiveVehicle);
+    
+    if (_activeVehicle) {
+        emit activeVehicleAvailableChanged(true);
+        if (_activeVehicle->autopilotPlugin()->pluginReady()) {
+            emit parameterReadyVehicleAvailableChanged(true);
+        }
+    }
+    
+    _vehicleBeingDeleted->deleteLater();
+}
+
+void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
+{
+    if (vehicle != _activeVehicle) {
+        if (_activeVehicle) {
+            // The sequence of signals is very important in order to not leave Qml elements connected
+            // to a non-existent vehicle.
+            
+            // First we must signal that there is no active vehicle available. This will disconnect
+            // any existing ui from the currently active vehicle.
+            _activeVehicleAvailable = false;
+            _parameterReadyVehicleAvailable = false;
+            emit activeVehicleAvailableChanged(false);
+            emit parameterReadyVehicleAvailableChanged(false);
+        }
+        
+        // See explanation in _deleteVehiclePhase1
+        _vehicleBeingSetActive = vehicle;
+        QTimer::singleShot(20, this, &MultiVehicleManager::_setActiveVehiclePhase2);
+    }
+}
+
+void MultiVehicleManager::_setActiveVehiclePhase2(void)
+{
+    // Now we signal the new active vehicle
+    _activeVehicle = _vehicleBeingSetActive;
+    emit activeVehicleChanged(_activeVehicle);
+    
+    // And finally vehicle availability
+    if (_activeVehicle) {
+        _activeVehicleAvailable = true;
+        emit activeVehicleAvailableChanged(true);
+        
+        if (_activeVehicle->autopilotPlugin()->pluginReady()) {
+            _parameterReadyVehicleAvailable = true;
+            emit parameterReadyVehicleAvailableChanged(true);
+        }
+    }
+}
+
+void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
+{
+    AutoPilotPlugin* autopilot = dynamic_cast<AutoPilotPlugin*>(sender());
+    
+    if (!autopilot) {
+        qWarning() << "Dynamic cast failed!";
+        return;
+    }
+    
+    if (autopilot->vehicle() == _activeVehicle) {
+        _parameterReadyVehicleAvailable = pluginReady;
+        emit parameterReadyVehicleAvailableChanged(pluginReady);
+    }
+}
+
+void MultiVehicleManager::setHomePositionForAllVehicles(double lat, double lon, double alt)
+{
+    foreach (Vehicle* vehicle, _vehicleMap) {
+        vehicle->uas()->setHomePosition(lat, lon, alt);
+    }
+}
+
+UASWaypointManager* MultiVehicleManager::activeWaypointManager(void)
+{
+    if (_activeVehicle) {
+        return _activeVehicle->uas()->getWaypointManager();
+    }
+    
+    if (!_offlineWaypointManager) {
+        _offlineWaypointManager = new UASWaypointManager(NULL, NULL);
+    }
+    return _offlineWaypointManager;
+}
+
+QList<Vehicle*> MultiVehicleManager::vehicles(void)
+{
+    QList<Vehicle*> list;
+    
+    foreach (Vehicle* vehicle, _vehicleMap) {
+        list += vehicle;
+    }
+    
+    return list;
+}

src/Vehicle/MultiVehicleManager.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 MultiVehicleManager_H
+#define MultiVehicleManager_H
+
+#include "QGCSingleton.h"
+#include "Vehicle.h"
+#include "QGCMAVLink.h"
+#include "UASWaypointManager.h"
+
+class MultiVehicleManager : public QGCSingleton
+{
+    Q_OBJECT
+    
+    DECLARE_QGC_SINGLETON(MultiVehicleManager, MultiVehicleManager)
+
+public:
+    Q_PROPERTY(bool activeVehicleAvailable          READ activeVehicleAvailable                         NOTIFY activeVehicleAvailableChanged)
+    Q_PROPERTY(bool parameterReadyVehicleAvailable  READ parameterReadyVehicleAvailable                 NOTIFY parameterReadyVehicleAvailableChanged)
+    Q_PROPERTY(Vehicle* activeVehicle               READ activeVehicle          WRITE setActiveVehicle  NOTIFY activeVehicleChanged)
+    
+    // Property accessors
+    bool activeVehicleAvailable(void) { return _activeVehicleAvailable; }
+    bool parameterReadyVehicleAvailable(void) { return _parameterReadyVehicleAvailable; }
+    Vehicle* activeVehicle(void) { return _activeVehicle; }
+    void setActiveVehicle(Vehicle* vehicle);
+    
+    /// Called to notify that a heartbeat was received with the specified information. MultiVehicleManager
+    /// will create/update Vehicles as necessary.
+    ///     @param link Heartbeat came through on this link
+    ///     @param vehicleId Mavlink system id for vehicle
+    ///     @param heartbeat Mavlink heartbeat message
+    /// @return true: continue further processing of this message, false: disregard this message
+    bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
+    
+    Vehicle* getVehicleById(int vehicleId) { return _vehicleMap[vehicleId]; }
+    
+    void setHomePositionForAllVehicles(double lat, double lon, double alt);
+    
+    UAS* activeUas(void) { return _activeVehicle ? _activeVehicle->uas() : NULL; }
+    
+    QList<Vehicle*> vehicles(void);
+    
+    UASWaypointManager* activeWaypointManager(void);
+
+signals:
+    void vehicleAdded(Vehicle* vehicle);
+    void vehicleRemoved(Vehicle* vehicle);
+    void activeVehicleAvailableChanged(bool activeVehicleAvailable);
+    void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);
+    void activeVehicleChanged(Vehicle* activeVehicle);
+    
+    void _deleteVehiclePhase2Signal(void);
+    
+private slots:
+    void _deleteVehiclePhase1(void);
+    void _deleteVehiclePhase2(void);
+    void _setActiveVehiclePhase2(void);
+    void _autopilotPluginReadyChanged(bool pluginReady);
+    
+private:
+    /// All access to singleton is through MultiVehicleManager::instance
+    MultiVehicleManager(QObject* parent = NULL);
+    ~MultiVehicleManager();
+    
+    bool _vehicleExists(int vehicleId);
+    
+    bool        _activeVehicleAvailable;            ///< true: An active vehicle is available
+    bool        _parameterReadyVehicleAvailable;    ///< true: An active vehicle with ready parameters is available
+    Vehicle*    _activeVehicle;                     ///< Currently active vehicle from a ui perspective
+    
+    Vehicle*    _vehicleBeingDeleted;               ///< Vehicle being deleted in queued phases
+    Vehicle*    _vehicleBeingSetActive;             ///< Vehicle being set active in queued phases
+    
+    QList<int>  _ignoreVehicleIds;          ///< List of vehicle id for which we ignore further communication
+    
+    QMap<int, Vehicle*> _vehicleMap;        ///< Map of vehicles keyed by id
+    
+    UASWaypointManager* _offlineWaypointManager;
+};
+
+#endif

src/Vehicle/Vehicle.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 "Vehicle.h"
+#include "MAVLinkProtocol.h"
+#include "FirmwarePluginManager.h"
+#include "LinkManager.h"
+#include "FirmwarePlugin.h"
+#include "AutoPilotPluginManager.h"
+
+QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
+
+Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
+    : _id(vehicleId)
+    , _firmwareType(firmwareType)
+    , _uas(NULL)
+{
+    _addLink(link);
+    
+    connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
+    connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
+    
+    _uas = new UAS(MAVLinkProtocol::instance(), this);
+    
+    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
+    _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
+}
+
+void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
+{
+    if (message.sysid != _id) {
+        return;
+    }
+    
+    if (!_containsLink(link)) {
+        _addLink(link);
+    }
+    
+    _uas->receiveMessage(message);
+}
+
+bool Vehicle::_containsLink(LinkInterface* link)
+{
+    foreach (SharedLinkInterface sharedLink, _links) {
+        if (sharedLink.data() == link) {
+            return true;
+        }
+    }
+    
+    return false;
+}
+
+void Vehicle::_addLink(LinkInterface* link)
+{
+    if (!_containsLink(link)) {
+        _links += LinkManager::instance()->sharedPointerForLink(link);
+        qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
+        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
+    }
+}
+
+void Vehicle::_linkDisconnected(LinkInterface* link)
+{
+    qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
+    qCDebug(VehicleLog) << "link count:" << _links.count();
+    
+    for (int i=0; i<_links.count(); i++) {
+        if (_links[i].data() == link) {
+            _links.removeAt(i);
+            break;
+        }
+    }
+    
+    if (_links.count() == 0) {
+        emit allLinksDisconnected();
+    }
+}
+
+void Vehicle::sendMessage(mavlink_message_t message)
+{
+    emit _sendMessageOnThread(message);
+}
+
+void Vehicle::_sendMessage(mavlink_message_t message)
+{
+    // Emit message on all links that are currently connected
+    foreach (SharedLinkInterface sharedLink, _links) {
+        LinkInterface* link = sharedLink.data();
+        Q_ASSERT(link);
+        
+        if (link->isConnected()) {
+            MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+            
+            // Write message into buffer, prepending start sign
+            uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+            int len = mavlink_msg_to_send_buffer(buffer, &message);
+            static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
+            mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
+            
+            if (link->isConnected()) {
+                link->writeBytes((const char*)buffer, len);
+            } else {
+                qWarning() << "Link not connected";
+            }
+        }
+    }
+}
+
+QList<LinkInterface*> Vehicle::links(void)
+{
+    QList<LinkInterface*> list;
+    
+    foreach (SharedLinkInterface sharedLink, _links) {
+        list += sharedLink.data();
+    }
+    
+    return list;
+}

src/Vehicle/Vehicle.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 Vehicle_H
+#define Vehicle_H
+
+#include <QObject>
+
+#include "LinkInterface.h"
+#include "QGCMAVLink.h"
+#include "UAS.h"
+
+class FirmwarePlugin;
+class AutoPilotPlugin;
+
+Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
+
+class Vehicle : public QObject
+{
+    Q_OBJECT
+    
+public:
+    Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType);
+    
+    Q_PROPERTY(int id READ id CONSTANT)
+    Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
+
+    // Property accesors
+    int id(void) { return _id; }
+    MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
+    
+    /// Sends this specified message to all links accociated with this vehicle
+    void sendMessage(mavlink_message_t message);
+    
+    /// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out.
+    UAS* uas(void) { return _uas; }
+    
+    /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out.
+    AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; }
+    
+    QList<LinkInterface*> links(void);
+    
+signals:
+    void allLinksDisconnected(void);
+    
+    /// Used internally to move sendMessage call to main thread
+    void _sendMessageOnThread(mavlink_message_t message);
+    
+private slots:
+    void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
+    void _linkDisconnected(LinkInterface* link);
+    void _sendMessage(mavlink_message_t message);
+    
+private:
+    bool _containsLink(LinkInterface* link);
+    void _addLink(LinkInterface* link);
+
+    int             _id;            ///< Mavlink system id
+    MAV_AUTOPILOT   _firmwareType;
+    
+    FirmwarePlugin*     _firmwarePlugin;
+    AutoPilotPlugin*    _autopilotPlugin;
+    
+    /// List of all links associated with this vehicle. We keep SharedLinkInterface objects
+    /// which are QSharedPointer's in order to maintain reference counts across threads.
+    /// This way Link deletion works correctly.
+    QList<SharedLinkInterface> _links;
+    
+    UAS* _uas;
+};
+
+#endif

src/VehicleSetup/SetupView.cc

@@ -42,23 +42,9 @@
 #include <QDebug>
 
 SetupView::SetupView(QWidget* parent) :
-    QGCQmlWidgetHolder(parent),
-    _uasCurrent(NULL),
-    _initComplete(false),
-    _readyAutopilot(NULL)
+    QGCQmlWidgetHolder(parent)
 {
-#ifdef __mobile__
-    _showFirmware = false;
-#else
-    _showFirmware = true;
-#endif
-
-    connect(UASManager::instance(), &UASManager::activeUASSet, this, &SetupView::_setActiveUAS);
-
-    getRootContext()->setContextProperty("controller", this);
     setSource(QUrl::fromUserInput("qrc:/qml/SetupView.qml"));
-
-    _setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
 SetupView::~SetupView()
@@ -66,37 +52,6 @@ SetupView::~SetupView()
 
 }
 
-void SetupView::_setActiveUAS(UASInterface* uas)
-{
-    if (_uasCurrent) {
-        disconnect(_autopilot.data(), &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
-    }
-
-    _pluginReadyChanged(false);
-
-    _uasCurrent = uas;
-
-    if (_uasCurrent) {
-        _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent);
-        if (_autopilot.data()->pluginReady()) {
-            _pluginReadyChanged(_autopilot.data()->pluginReady());
-        }
-        connect(_autopilot.data(), &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
-    }
-}
-
-void SetupView::_pluginReadyChanged(bool pluginReady)
-{
-    if (pluginReady) {
-        _readyAutopilot = _autopilot.data();
-        emit autopilotChanged(_readyAutopilot);
-    } else {
-        _readyAutopilot = NULL;
-        emit autopilotChanged(NULL);
-        _autopilot.clear();
-    }
-}
-
 #ifdef UNITTEST_BUILD
 void SetupView::showFirmware(void)
 {
@@ -141,8 +96,3 @@ void SetupView::showVehicleComponentSetup(VehicleComponent* vehicleComponent)
     Q_UNUSED(success);
 }
 #endif
-
-AutoPilotPlugin* SetupView::autopilot(void)
-{
-    return _readyAutopilot;
-}

src/VehicleSetup/SetupView.h

@@ -43,31 +43,12 @@ public:
     explicit SetupView(QWidget* parent = 0);
     ~SetupView();
     
-    Q_PROPERTY(AutoPilotPlugin* autopilot READ autopilot NOTIFY autopilotChanged)
-    Q_PROPERTY (bool showFirmware MEMBER _showFirmware CONSTANT)
-    
 #ifdef UNITTEST_BUILD
     void showFirmware(void);
     void showParameters(void);
     void showSummary(void);
     void showVehicleComponentSetup(VehicleComponent* vehicleComponent);
 #endif
-    
-    AutoPilotPlugin* autopilot(void);
-    
-signals:
-    void autopilotChanged(AutoPilotPlugin* autopilot);
-    
-private slots:
-    void _setActiveUAS(UASInterface* uas);
-    void _pluginReadyChanged(bool pluginReady);
-
-private:
-    UASInterface*                   _uasCurrent;
-    bool                            _initComplete;      ///< true: parameters are ready and ui has been setup
-    QSharedPointer<AutoPilotPlugin> _autopilot;         // Shared pointer to prevent shutdown ordering problems
-    AutoPilotPlugin*                _readyAutopilot;    // NULL if autopilot is not yet read
-    bool                            _showFirmware;
 };
 
 #endif

src/VehicleSetup/SetupView.qml

@@ -25,13 +25,14 @@ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 ///     @brief Setup View
 ///     @author Don Gagne <don@thegagnes.com>
 
-import QtQuick 2.3
+import QtQuick          2.3
 import QtQuick.Controls 1.2
 
-import QGroundControl.AutoPilotPlugin 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.ScreenTools 1.0
+import QGroundControl.AutoPilotPlugin       1.0
+import QGroundControl.Palette               1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.MultiVehicleManager   1.0
 
 Rectangle {
     id:     topLevel
@@ -52,7 +53,7 @@ Rectangle {
 
     function showSummaryPanel()
     {
-        if (controller.autopilot) {
+        if (multiVehicleManager.parameterReadyVehicleAvailable) {
             panelLoader.source = "VehicleSummary.qml";
         } else {
             panelLoader.sourceComponent = disconnectedVehicleSummaryComponent
@@ -61,8 +62,8 @@ Rectangle {
 
     function showFirmwarePanel()
     {
-        if (controller.showFirmware) {
-            if (controller.autopilot && controller.autopilot.armed) {
+        if (!ScreenTools.isMobile) {
+            if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
                 messagePanelText = armedVehicleText
                 panelLoader.sourceComponent = messagePanelComponent
             } else {
@@ -78,7 +79,7 @@ Rectangle {
 
     function showVehicleComponentPanel(vehicleComponent)
     {
-        if (controller.autopilot.armed) {
+        if (multiVehicleManager.activeVehicle.autopilot.armed) {
             messagePanelText = armedVehicleText
             panelLoader.sourceComponent = messagePanelComponent
         } else {
@@ -91,17 +92,17 @@ Rectangle {
         }
     }
 
+    Component.onCompleted: showSummaryPanel()
+
     Connections {
-        target: controller
+        target: multiVehicleManager
 
-        onAutopilotChanged: {
+        onParameterReadyVehicleAvailableChanged: {
             summaryButton.checked = true
             showSummaryPanel()
         }
     }
 
-    Component.onCompleted: showSummaryPanel()
-
     Component {
         id: disconnectedVehicleSummaryComponent
 
@@ -163,14 +164,14 @@ Rectangle {
             imageResource:  "/qmlimages/FirmwareUpgradeIcon.png"
             setupIndicator: false
             exclusiveGroup: setupButtonGroup
-            visible:        controller.showFirmware
+            visible:        !ScreenTools.isMobile
             text:           "FIRMWARE"
 
             onClicked: showFirmwarePanel()
         }
 
         Repeater {
-            model: controller.autopilot ? controller.autopilot.vehicleComponents : 0
+            model: multiVehicleManager.parameterReadyVehicleAvailable ? multiVehicleManager.activeVehicle.autopilot.vehicleComponents : 0
 
             SubMenuButton {
                 width:          buttonWidth
@@ -187,7 +188,7 @@ Rectangle {
             width:          buttonWidth
             setupIndicator: false
             exclusiveGroup: setupButtonGroup
-            visible:        controller.autopilot
+            visible:        multiVehicleManager.parameterReadyVehicleAvailable
             text:           "PARAMETERS"
 
             onClicked: showParametersPanel()
@@ -202,7 +203,5 @@ Rectangle {
         anchors.right:          parent.right
         anchors.top:            parent.top
         anchors.bottom:         parent.bottom
-
-        property var autopilot: controller.autopilot
     }
 }

src/VehicleSetup/SetupViewTest.cc

@@ -29,7 +29,7 @@
 #include "QGCMessageBox.h"
 #include "SetupView.h"
 #include "UASManager.h"
-#include "AutoPilotPluginManager.h"
+#include "MultiVehicleManager.h"
 
 UT_REGISTER_TEST(SetupViewTest)
 
@@ -69,17 +69,16 @@ void SetupViewTest::_clickThrough_test(void)
     link->setAutopilotType(MAV_AUTOPILOT_PX4);
     LinkManager::instance()->_addLink(link);
     linkMgr->connectLink(link);
-    QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
+    
+    // Wait for the Vehicle to get created
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
+    QCOMPARE(spyVehicle.wait(5000), true);
+    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
+    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
 
-    AutoPilotPlugin* autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()).data();
+    AutoPilotPlugin* autopilot = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
     Q_ASSERT(autopilot);
     
-    QSignalSpy spyPlugin(autopilot, SIGNAL(pluginReadyChanged(bool)));
-    if (!autopilot->pluginReady()) {
-        QCOMPARE(spyPlugin.wait(60000), true);
-    }
-    Q_ASSERT(autopilot->pluginReady());
-    
     // Switch to the Setup view
     _mainToolBar->onSetupView();
     QTest::qWait(1000);

src/VehicleSetup/VehicleSummary.qml

@@ -21,14 +21,15 @@
 
  ======================================================================*/
 
-import QtQuick 2.2
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
 
-import QGroundControl.FactSystem 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.ScreenTools 1.0
+import QGroundControl.FactSystem            1.0
+import QGroundControl.Palette               1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.MultiVehicleManager   1.0
 
 Rectangle {
     width: 600
@@ -64,7 +65,7 @@ Rectangle {
                                 "Below you will find a summary of the settings for your vehicle. To the left are the setup menus for each component." :
                                 "WARNING: Your vehicle requires setup prior to flight. Please resolve the items marked in red using the menu on the left."
 
-            property bool setupComplete: autopilot && autopilot.setupComplete
+            property bool setupComplete: multiVehicleManager.activeVehicle.autopilot.setupComplete
         }
 
         Item {
@@ -78,7 +79,8 @@ Rectangle {
             spacing: 10
 
             Repeater {
-                model: autopilot ? autopilot.vehicleComponents : 0
+                model: multiVehicleManager.activeVehicle.autopilot.vehicleComponents
+
 
                 // Outer summary item rectangle
                 Rectangle {

src/ViewWidgets/CustomCommandWidgetController.cc

@@ -22,7 +22,7 @@
  ======================================================================*/
 
 #include "CustomCommandWidgetController.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "QGCMAVLink.h"
 #include "QGCFileDialog.h"
 
@@ -34,7 +34,7 @@ const char* CustomCommandWidgetController::_settingsKey = "CustomCommand.QmlFile
 CustomCommandWidgetController::CustomCommandWidgetController(void) :
 	_uas(NULL)
 {
-    _uas = UASManager::instance()->getActiveUAS();
+    _uas = MultiVehicleManager::instance()->activeVehicle()->uas();
     Q_ASSERT(_uas);
     
     QSettings settings;

src/ViewWidgets/ViewWidgetController.cc

@@ -23,53 +23,33 @@
 
 #include "ViewWidgetController.h"
 #include "UASManager.h"
-#include "AutoPilotPluginManager.h"
+#include "MultiVehicleManager.h"
 
 ViewWidgetController::ViewWidgetController(void) :
 	_autopilot(NULL),
 	_uas(NULL)
 {
-	_uasManager = UASManager::instance();
-	Q_ASSERT(_uasManager);
-	
-	connect(_uasManager, &UASManagerInterface::activeUASSet, this, &ViewWidgetController::_activeUasChanged);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &ViewWidgetController::_vehicleAvailable);
 }
 
-void ViewWidgetController::_activeUasChanged(UASInterface* currentUas)
+void ViewWidgetController::_vehicleAvailable(bool available)
 {
-	if (currentUas != _uas) {
-		if (_uas) {
-			disconnect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged);
-			_uas = NULL;
-			_autopilot = NULL;
-			emit pluginDisconnected();
-		}
-		
-		if (currentUas) {
-			_uas = currentUas;
-			_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(currentUas).data();
-			Q_ASSERT(_autopilot);
-			
-			connect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged);
-			if (_autopilot->pluginReady()) {
-				_pluginReadyChanged(true);
-			}
-		}
-	}
+    if (_uas) {
+        _uas = NULL;
+        _autopilot = NULL;
+        emit pluginDisconnected();
+    }
+    
+    if (available) {
+        Vehicle* vehicle = MultiVehicleManager::instance()->activeVehicle();
+        
+        _uas = vehicle->uas();
+        _autopilot = vehicle->autopilotPlugin();
+        Q_ASSERT(_autopilot);
+        emit pluginConnected(QVariant::fromValue(_autopilot));
+    }
 }
-
-void ViewWidgetController::_pluginReadyChanged(bool pluginReady)
-{
-	Q_ASSERT(_autopilot);
-	
-	if (pluginReady) {
-		emit pluginConnected(QVariant::fromValue(_autopilot));
-	} else {
-		_activeUasChanged(NULL);
-	}
-}
-
 Q_INVOKABLE void ViewWidgetController::checkForVehicle(void)
 {
-	_activeUasChanged(_uasManager->getActiveUAS());
+    _vehicleAvailable(MultiVehicleManager::instance()->activeVehicle());
 }

src/ViewWidgets/ViewWidgetController.h

@@ -29,6 +29,7 @@
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
 #include "UASManagerInterface.h"
+#include "Vehicle.h"
 
 class ViewWidgetController : public QObject
 {
@@ -44,12 +45,10 @@ signals:
 	void pluginDisconnected(void);
 	
 private slots:
-	void _activeUasChanged(UASInterface* UAS);
-	void _pluginReadyChanged(bool pluginReady);
+    void _vehicleAvailable(bool available);
 
 private:
 	AutoPilotPlugin*        _autopilot;
-	UASManagerInterface*    _uasManager;
 	UASInterface*           _uas;
 };
 

src/comm/MAVLinkProtocol.cc

@@ -20,16 +20,15 @@
 
 #include "MAVLinkProtocol.h"
 #include "UASInterface.h"
-#include "UASManager.h"
 #include "UASInterface.h"
 #include "UAS.h"
 #include "configuration.h"
 #include "LinkManager.h"
 #include "QGCMAVLink.h"
-#include "QGCMAVLinkUASFactory.h"
 #include "QGC.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
+#include "MultiVehicleManager.h"
 
 Q_DECLARE_METATYPE(mavlink_message_t)
 IMPLEMENT_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
@@ -342,57 +341,13 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 }
             }
 
-            // ORDER MATTERS HERE!
-            // If the matching UAS object does not yet exist, it has to be created
-            // before emitting the packetReceived signal
-
-            UASInterface* uas = UASManager::instance()->getUASForId(message.sysid);
-
-            // Check and (if necessary) create UAS object
-            if (uas == NULL && message.msgid == MAVLINK_MSG_ID_HEARTBEAT)
-            {
-                // ORDER MATTERS HERE!
-                // The UAS object has first to be created and connected,
-                // only then the rest of the application can be made aware
-                // of its existence, as it only then can send and receive
-                // it's first messages.
-
-                // Check if the UAS has the same id like this system
-                if (message.sysid == getSystemId())
-                {
-                    emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
-                }
-
-                // Create a new UAS based on the heartbeat received
-                // Todo dynamically load plugin at run-time for MAV
-                // WIKISEARCH:AUTOPILOT_TYPE_INSTANTIATION
-
-                // First create new UAS object
-                // Decode heartbeat message
+            if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
+                // Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
                 mavlink_heartbeat_t heartbeat;
-                // Reset version field to 0
-                heartbeat.mavlink_version = 0;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
-
-                // Check if the UAS has a different protocol version
-                if (m_enable_version_check && (heartbeat.mavlink_version != MAVLINK_VERSION))
-                {
-                    // Bring up dialog to inform user
-                    if (!versionMismatchIgnore)
-                    {
-                        emit protocolStatusMessage(tr("MAVLink Protocol"), tr("The MAVLink protocol version on the MAV and QGroundControl mismatch! "
-                                                                              "It is unsafe to use different MAVLink versions. "
-                                                                              "QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
-                        versionMismatchIgnore = true;
-                    }
-
-                    // Ignore this message and continue gracefully
+                if (!MultiVehicleManager::instance()->notifyHeartbeatInfo(link, message.sysid, heartbeat)) {
                     continue;
                 }
-
-                // Create a new UAS object
-                uas = QGCMAVLinkUASFactory::createUAS(this, link, message.sysid, (MAV_AUTOPILOT)heartbeat.autopilot);
-
             }
 
             // Increase receive counter

src/comm/MockLink.params

@@ -237,7 +237,7 @@
 1	50	LNDMC_Z_VEL_MAX	                      0.3	9
 1	50	MAV_COMP_ID	50	6
 1	50	MAV_FWDEXTSP	1	6
-1	50	MAV_SYS_ID	1	6
+1	50	MAV_SYS_ID	76	6
 1	50	MAV_TYPE	2	6
 1	50	MAV_USEHILGPS	0	6
 1	50	MC_ACRO_P_MAX	                       90	9

src/input/JoystickInput.cc

@@ -16,7 +16,7 @@
 #include <QDebug>
 #include <limits.h>
 #include "UAS.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "QGC.h"
 #include <QMutexLocker>
 #include <QSettings>
@@ -49,7 +49,7 @@ JoystickInput::JoystickInput() :
 {
 
     // Make sure we initialize with the correct UAS.
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 
     // Start this thread. This allows the Joystick Settings window to work correctly even w/o any UASes connected.
     start();
@@ -304,25 +304,14 @@ void JoystickInput::storeJoystickSettings() const
     settings.endGroup();
 }
 
-void JoystickInput::setActiveUAS(UASInterface* uas)
+void JoystickInput::_activeVehicleChanged(Vehicle* vehicle)
 {
-    // Do nothing if the UAS hasn't changed.
-    if (uas == this->uas)
-    {
-        return;
-    }
-
-    // Only connect / disconnect is the UAS is of a controllable UAS class
-    UAS* tmp = 0;
     if (this->uas)
     {
-        tmp = dynamic_cast<UAS*>(this->uas);
-        if(tmp)
-        {
-            disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
-            disconnect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
-        }
+        disconnect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), uas, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
+        disconnect(this, SIGNAL(actionTriggered(int)), uas, SLOT(triggerAction(int)));
         uasCanReverse = false;
+        uas = NULL;
     }
 
     // Save any settings for the last UAS
@@ -331,23 +320,22 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         storeJoystickSettings();
     }
 
-    this->uas = uas;
-
-    if (this->uas && (tmp = dynamic_cast<UAS*>(this->uas)))
+    if (vehicle)
     {
-        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), tmp, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
+        uas = vehicle->uas();
+        connect(this, SIGNAL(joystickChanged(float,float,float,float,qint8,qint8,quint16,quint8)), uas, SLOT(setExternalControlSetpoint(float,float,float,float,qint8,qint8,quint16,quint8)));
         qDebug() << "connected joystick";
-        connect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
-        uasCanReverse = tmp->systemCanReverse();
+        connect(this, SIGNAL(actionTriggered(int)), uas, SLOT(triggerAction(int)));
+        uasCanReverse = uas->systemCanReverse();
 
         // Update the joystick settings for a new UAS.
         autopilotType = uas->getAutopilotType();
         systemType = uas->getSystemType();
     }
 
-    // Make sure any UI elements know we've updated the UAS. The UASManager signal is re-emitted here so that UI elements know to
+    // Make sure any UI elements know we've updated the UAS. The signal is re-emitted here so that UI elements know to
     // update their UAS-specific UI.
-    emit activeUASSet(uas);
+    emit activeVehicleChanged(vehicle);
 
     // Load any joystick-specific settings now that the UAS has changed.
     if (joystickID > -1)
@@ -412,8 +400,8 @@ void JoystickInput::init()
     setActiveJoystick(activeJoystick);
 
     // Now make sure we know what the current UAS is and track changes to it.
-    setActiveUAS(UASManager::instance()->getActiveUAS());
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &JoystickInput::_activeVehicleChanged);
 }
 
 void JoystickInput::shutdown()

src/input/JoystickInput.h

@@ -52,7 +52,7 @@ This file is part of the PIXHAWK project
 #include <SDL/SDL.h>
 #endif
 
-#include "UASInterface.h"
+#include "UAS.h"
 
 struct JoystickSettings {
     QMap<int, bool> axesInverted; ///< Whether each axis should be used inverted from what was reported.
@@ -202,7 +202,7 @@ protected:
     bool done;
 
     SDL_Joystick* joystick;
-    UASInterface* uas; ///< Track the current UAS.
+    UAS* uas; ///< Track the current UAS.
     int autopilotType; ///< Cache the autopilotType
     int systemType; ///< Cache the systemType
     bool uasCanReverse; ///< Track whether the connect UAS can drive a reverse speed.
@@ -303,7 +303,7 @@ signals:
     /** @brief Signal that the UAS has been updated for this JoystickInput
      * Note that any UI updates should NOT query this object for joystick details. That should be done in response to the joystickSettingsChanged signal.
      */
-    void activeUASSet(UASInterface*);
+    void activeVehicleChanged(Vehicle* vehicle);
 
     /** @brief Signals that new joystick-specific settings were changed. Useful for triggering updates that at dependent on the current joystick. */
     void joystickSettingsChanged();
@@ -314,8 +314,6 @@ signals:
 public slots:
     /** @brief Enable or disable emitting the high-level control signals from the joystick. */
     void setEnabled(bool enable);
-    /** @brief Specify the UAS that this input should forward joystickChanged signals and buttonPresses to. */
-    void setActiveUAS(UASInterface* uas);
     /** @brief Switch to a new joystick by ID number. Both buttons and axes are updated with the proper signals emitted. */
     void setActiveJoystick(int id);
     /** @brief Switch calibration mode active */
@@ -372,6 +370,9 @@ public slots:
     {
         mode = (JOYSTICK_MODE)newMode;
     }
+    
+private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
 };
 
 #endif // _JOYSTICKINPUT_H_

src/input/Mouse6dofInput.cpp

@@ -8,7 +8,7 @@
 
 #include "Mouse6dofInput.h"
 #include "UAS.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include "QGCMessageBox.h"
 
 #ifdef QGC_MOUSE_ENABLED_LINUX
@@ -38,7 +38,8 @@ Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
     bValue(0.0),
     cValue(0.0)
 {
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
+    
     // Connect 3DxWare SDK MotionEvent
     connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
     connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT(button3DMouseDown(int)));
@@ -62,7 +63,7 @@ Mouse6dofInput::Mouse6dofInput(QWidget* parent) :
     bValue(0.0),
     cValue(0.0)
 {
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Mouse6dofInput::_activeVehicleChanged);
 
     if (!mouseActive)
     {
@@ -111,27 +112,22 @@ Mouse6dofInput::~Mouse6dofInput()
     done = true;
 }
 
-void Mouse6dofInput::setActiveUAS(UASInterface* uas)
+void Mouse6dofInput::_activeVehicleChanged(Vehicle* vehicle)
 {
-    // Only connect / disconnect is the UAS is of a controllable UAS class
-    UAS* tmp = 0;
     if (this->uas)
     {
-        tmp = dynamic_cast<UAS*>(this->uas);
-        if(tmp)
-        {
-            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
-            // Todo: disconnect button mapping
-        }
+        disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), uas, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+        // Todo: disconnect button mapping
+        uas = NULL;
     }
 
-    this->uas = uas;
-
-    tmp = dynamic_cast<UAS*>(this->uas);
-    if(tmp) {
-                connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
-                // Todo: connect button mapping
+    if (vehicle) {
+        uas = vehicle->uas();
+        
+        connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), uas, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+            // Todo: connect button mapping
     }
+    
     if (!isRunning())
     {
         start();
@@ -141,7 +137,7 @@ void Mouse6dofInput::setActiveUAS(UASInterface* uas)
 void Mouse6dofInput::init()
 {
     // Make sure active UAS is set
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 }
 
 void Mouse6dofInput::run()

src/input/Mouse6dofInput.h

@@ -11,23 +11,24 @@
 
 #include <QThread>
 
-#ifdef QGC_MOUSE_ENABLED_WIN
+#ifdef QGC_MOUSE_ENABLED_WIN
 #include "Mouse3DInput.h"
-#endif //QGC_MOUSE_ENABLED_WIN
+#endif //QGC_MOUSE_ENABLED_WIN
 
-#include "UASInterface.h"
+#include "UAS.h"
+#include "Vehicle.h"
 
 class Mouse6dofInput : public QThread
 {
     Q_OBJECT
 
 public:
-#ifdef QGC_MOUSE_ENABLED_WIN
+#ifdef QGC_MOUSE_ENABLED_WIN
     Mouse6dofInput(Mouse3DInput* mouseInput);
-#endif //QGC_MOUSE_ENABLED_WIN
-#ifdef QGC_MOUSE_ENABLED_LINUX
+#endif //QGC_MOUSE_ENABLED_WIN
+#ifdef QGC_MOUSE_ENABLED_LINUX
     Mouse6dofInput(QWidget* parent);
-#endif //QGC_MOUSE_ENABLED_LINUX
+#endif //QGC_MOUSE_ENABLED_LINUX
 
     ~Mouse6dofInput();
     void run();
@@ -37,7 +38,7 @@ public:
 protected:
     void init();
 
-    UASInterface* uas;
+    UAS* uas;
     bool done;
     bool mouseActive;
     bool translationActive;
@@ -77,18 +78,19 @@ signals:
     void mouseRotationActiveChanged(bool rotationEnable);
 
 public slots:
-    void setActiveUAS(UASInterface* uas);
-#ifdef QGC_MOUSE_ENABLED_WIN
+#ifdef QGC_MOUSE_ENABLED_WIN
     /** @brief Get a motion input from 3DMouse */
     void motion3DMouse(std::vector<float> &motionData);
     /** @brief Get a button input from 3DMouse */
     void button3DMouseDown(int button);
-#endif //QGC_MOUSE_ENABLED_WIN
-#ifdef QGC_MOUSE_ENABLED_LINUX
+#endif //QGC_MOUSE_ENABLED_WIN
+#ifdef QGC_MOUSE_ENABLED_LINUX
     /** @brief Get an XEvent to check it for an 3DMouse event (motion or button) */
     void handleX11Event(XEvent* event);
-#endif //QGC_MOUSE_ENABLED_LINUX
+#endif //QGC_MOUSE_ENABLED_LINUX
 
+private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
 };
 
 #endif // MOUSE6DOFINPUT_H

src/qgcunittest/FileManagerTest.cc

@@ -25,7 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "FileManagerTest.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 
 //UT_REGISTER_TEST(FileManagerTest)
 
@@ -51,13 +51,13 @@ void FileManagerTest::init(void)
     _fileServer = _mockLink->getFileServer();
     QVERIFY(_fileServer != NULL);
     
-    // Wait or the UAS to show up
-    UASManagerInterface* uasManager = UASManager::instance();
-    QSignalSpy spyUasCreate(uasManager, SIGNAL(UASCreated(UASInterface*)));
-    if (!uasManager->getActiveUAS()) {
-        QCOMPARE(spyUasCreate.wait(10000), true);
+    // Wait or the Vehicle to show up
+    MultiVehicleManager* vehicleManager = MultiVehicleManager::instance();
+    QSignalSpy spyVehicleCreate(vehicleManager, SIGNAL(activeVehicleChanged(Vehicle*)));
+    if (!vehicleManager->activeVehicle()) {
+        QCOMPARE(spyVehicleCreate.wait(10000), true);
     }
-    UASInterface* uas = uasManager->getActiveUAS();
+    UASInterface* uas = vehicleManager->activeVehicle()->uas();
     QVERIFY(uas != NULL);
     
     _fileManager = uas->getFileManager();

src/qgcunittest/MainWindowTest.cc

@@ -29,6 +29,7 @@
 #include "MainWindowTest.h"
 #include "MockLink.h"
 #include "QGCMessageBox.h"
+#include "MultiVehicleManager.h"
 
 UT_REGISTER_TEST(MainWindowTest)
 
@@ -68,20 +69,12 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
     link->setAutopilotType(autopilot);
     LinkManager::instance()->_addLink(link);
     
-    if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-        // Connect will pop a warning dialog
-        setExpectedMessageBox(QGCMessageBox::Ok);
-    }
     linkMgr->connectLink(link);
     
-    // Wait for the uas to work it's way through the various threads
+    // Wait for the Vehicle to work it's way through the various threads
     
-    QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)));
-    QCOMPARE(spyUas.wait(5000), true);
-    
-    if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-        checkExpectedMessageBox();
-    }
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
+    QCOMPARE(spyVehicle.wait(5000), true);
     
     // Cycle through all the top level views
     

src/qgcunittest/MavlinkLogTest.cc

@@ -32,6 +32,7 @@
 #include "QGCTemporaryFile.h"
 #include "QGCApplication.h"
 #include "UAS.h"
+#include "MultiVehicleManager.h"
 
 UT_REGISTER_TEST(MavlinkLogTest)
 
@@ -146,12 +147,10 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
     
     // Wait for the uas to work it's way through the various threads
     
-    QSignalSpy spyUas(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)));
-    QCOMPARE(spyUas.wait(5000), true);
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
+    QCOMPARE(spyVehicle.wait(5000), true);
 
-    UASInterface* uasInterface = UASManager::instance()->getActiveUAS();
-    QVERIFY(uasInterface);
-    UAS* uas = dynamic_cast<UAS*>(uasInterface);
+    UAS* uas = MultiVehicleManager::instance()->activeUas();
     QVERIFY(uas);
     
     QDir logSaveDir;

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -23,8 +23,7 @@
 
 #include "PX4RCCalibrationTest.h"
 #include "RadioComponentController.h"
-#include "UASManager.h"
-#include "AutoPilotPluginManager.h"
+#include "MultiVehicleManager.h"
 
 /// @file
 ///     @brief QRadioComponentController Widget unit test
@@ -154,16 +153,15 @@ void RadioConfigTest::init(void)
     Q_CHECK_PTR(_mockLink);
     LinkManager::instance()->_addLink(_mockLink);
     LinkManager::instance()->connectLink(_mockLink);
-    QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
     
-    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()).data();
-    Q_ASSERT(_autopilot);
+    // Wait for the Vehicle to get created
+    QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
+    QCOMPARE(spyVehicle.wait(5000), true);
+    QVERIFY(MultiVehicleManager::instance()->parameterReadyVehicleAvailable());
+    QVERIFY(MultiVehicleManager::instance()->activeVehicle());
     
-    QSignalSpy spyPlugin(_autopilot, SIGNAL(pluginReadyChanged(bool)));
-    if (!_autopilot->pluginReady()) {
-        QCOMPARE(spyPlugin.wait(60000), true);
-    }
-    Q_ASSERT(_autopilot->pluginReady());
+    _autopilot = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin();
+    Q_ASSERT(_autopilot);
     
     // This will instatiate the widget with an active uas with ready parameters
     _calWidget = new QGCQmlWidgetHolder();

src/qgcunittest/UASUnitTest.cc

-#include "UASUnitTest.h"
-#include <stdio.h>
-#include <QObject>
-
-UT_REGISTER_TEST(UASUnitTest)
-
-UASUnitTest::UASUnitTest()
-{
-}
-//This function is called after every test
-void UASUnitTest::init()
-{
-    UnitTest::init();
-    
-    _mavlink = new MAVLinkProtocol();
-    _uas = new UAS(_mavlink, UASID);
-    _uas->deleteSettings();
-}
-//this function is called after every test
-void UASUnitTest::cleanup()
-{
-    delete _uas;
-    _uas = NULL;
-
-    delete _mavlink;
-    _mavlink = NULL;
-    
-    UnitTest::cleanup();
-}
-
-void UASUnitTest::getUASID_test()
-{
-    // Test a default ID of zero is assigned
-    UAS* uas2 = new UAS(_mavlink);
-    QCOMPARE(uas2->getUASID(), 0);
-    delete uas2;
-
-    // Test that the chosen ID was assigned at construction
-    QCOMPARE(_uas->getUASID(), UASID);
-
-    // Make sure that no other ID was set
-    QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
-    QCOMPARE(_uas->getUASID(), 0);
-
-    // Make sure that ID >= 0
-    QCOMPARE(_uas->getUASID(), 100);
-
-}
-
-void UASUnitTest::getUASName_test()
-{
-  // Test that the name is build as MAV + ID
-  QCOMPARE(_uas->getUASName(), "MAV " + QString::number(UASID));
-
-}
-
-void UASUnitTest::getUpTime_test()
-{
-    UAS* uas2 = new UAS(_mavlink);
-    // Test that the uptime starts at zero to a
-    // precision of seconds
-    QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
-
-    // Sleep for three seconds
-    QTest::qSleep(3000);
-
-    // Test that the up time is computed correctly to a
-    // precision of seconds
-    QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
-
-    delete uas2;
-}
-
-void UASUnitTest::filterVoltage_test()
-{
-    float verificar=_uas->filterVoltage(0.4f);
-
-    // We allow the voltage returned to be within a small delta
-    const float allowedDelta = 0.05f;
-    const float desiredVoltage = 7.36f;
-    QVERIFY(verificar > (desiredVoltage - allowedDelta) && verificar < (desiredVoltage + allowedDelta));
-}
-
-void UASUnitTest:: getAutopilotType_test()
-{
-    int type = _uas->getAutopilotType();
-    // Verify that upon construction the autopilot is set to -1
-    QCOMPARE(type, -1);
-}
-
-void UASUnitTest::setAutopilotType_test()
-{
-    _uas->setAutopilotType(2);
-    // Verify that the autopilot is set
-    QCOMPARE(_uas->getAutopilotType(), 2);
-}
-
-//verify that the correct status is returned if a certain statue is given to _uas
-void UASUnitTest::getStatusForCode_test()
-{
-    QString state, desc;
-    state = "";
-    desc = "";
-
-    _uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-    QVERIFY(state == "UNINIT");
-
-    _uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
-    QVERIFY(state == "UNINIT");
-
-    _uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
-    QVERIFY(state == "BOOT");
-
-    _uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
-    QVERIFY(state == "CALIBRATING");
-
-    _uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
-    QVERIFY(state == "ACTIVE");
-
-    _uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
-    QVERIFY(state == "STANDBY");
-
-    _uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
-    QVERIFY(state == "CRITICAL");
-
-    _uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
-    QVERIFY(state == "EMERGENCY");
-
-    _uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
-    QVERIFY(state == "SHUTDOWN");
-
-    _uas->getStatusForCode(5325, state, desc);
-    QVERIFY(state == "UNKNOWN");
-}
-
-void UASUnitTest::getLocalX_test()
-{
-   QCOMPARE(_uas->getLocalX(), 0.0);
-}
-void UASUnitTest::getLocalY_test()
-{
-    QCOMPARE(_uas->getLocalY(), 0.0);
-}
-void UASUnitTest::getLocalZ_test()
-{
-    QCOMPARE(_uas->getLocalZ(), 0.0);
-}
-void UASUnitTest::getLatitude_test()
-{
-    QCOMPARE(_uas->getLatitude(), 0.0);
-}
-void UASUnitTest::getLongitude_test()
-{
-    QCOMPARE(_uas->getLongitude(), 0.0);
-}
-void UASUnitTest::getAltitudeAMSL_test()
-{
-    QCOMPARE(_uas->getAltitudeAMSL(), 0.0);
-}
-void UASUnitTest::getAltitudeRelative_test()
-{
-    QCOMPARE(_uas->getAltitudeRelative(), 0.0);
-}
-void UASUnitTest::getRoll_test()
-{
-    QCOMPARE(_uas->getRoll(), 0.0);
-}
-void UASUnitTest::getPitch_test()
-{
-    QCOMPARE(_uas->getPitch(), 0.0);
-}
-void UASUnitTest::getYaw_test()
-{
-    QCOMPARE(_uas->getYaw(), 0.0);
-}
-
-void UASUnitTest::getSelected_test()
-{
-    QCOMPARE(_uas->getSelected(), false);
-}
-
-void UASUnitTest::getSystemType_test()
-{    //check that system type is set to MAV_TYPE_GENERIC when initialized
-    QCOMPARE(_uas->getSystemType(), 0);
-    _uas->setSystemType(13);
-    QCOMPARE(_uas->getSystemType(), 13);
-}
-
-void UASUnitTest::getAirframe_test()
-{
-    //when _uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC
-    QVERIFY(_uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
-}
-
-void UASUnitTest::setAirframe_test()
-{
-    //check at construction, that airframe=0 (GENERIC)
-    QVERIFY(_uas->getAirframe() == UASInterface::QGC_AIRFRAME_GENERIC);
-
-    //check that set airframe works
-    _uas->setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
-    QVERIFY(_uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
-
-    //check that setAirframe will not assign a number to airframe, that is 
-    //not defined in the enum 
-    _uas->setAirframe(UASInterface::QGC_AIRFRAME_END_OF_ENUM);
-    QVERIFY(_uas->getAirframe() == UASInterface::QGC_AIRFRAME_HEXCOPTER);
-}
-
-void UASUnitTest::getWaypointList_test()
-{
-    QList<Waypoint*> kk = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(kk.count(), 0);
-
-    Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
-    _uas->getWaypointManager()->addWaypointEditable(wp, true);
-
-    kk = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(kk.count(), 1);
-
-    wp = new Waypoint();
-    _uas->getWaypointManager()->addWaypointEditable(wp, false);
-
-    kk = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(kk.count(), 2);
-
-    _uas->getWaypointManager()->removeWaypoint(1);
-    kk = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(kk.count(), 1);
-
-    _uas->getWaypointManager()->removeWaypoint(0);
-    kk = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(kk.count(), 0);
-
-    qDebug()<<"disconnect SIGNAL waypointListChanged";
-
-}
-
-void UASUnitTest::getWaypoint_test()
-{
-    Waypoint* wp = new Waypoint(0,5.6,2.0,3.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
-
-    _uas->getWaypointManager()->addWaypointEditable(wp, true);
-
-    QList<Waypoint*> wpList = _uas->getWaypointManager()->getWaypointEditableList();
-
-    QCOMPARE(wpList.count(), 1);
-    QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId());
-
-    Waypoint*  wp3 = new Waypoint(1, 5.6, 2.0, 3.0);
-    _uas->getWaypointManager()->addWaypointEditable(wp3, true);
-    wpList = _uas->getWaypointManager()->getWaypointEditableList();
-    Waypoint* wp2 = static_cast<Waypoint*>(wpList.at(0));
-
-    QCOMPARE(wpList.count(), 2);
-    QCOMPARE(wp3->getX(), wp2->getX());
-    QCOMPARE(wp3->getY(), wp2->getY());
-    QCOMPARE(wp3->getZ(), wp2->getZ());
-    QCOMPARE(wpList.at(1)->getId(), static_cast<quint16>(1));
-    QCOMPARE(wp3->getFrame(), MAV_FRAME_GLOBAL);
-    QCOMPARE(wp3->getFrame(), wp2->getFrame());
-
-    delete wp3;
-    delete wp;
-}
-
-void UASUnitTest::signalWayPoint_test()
-{
-    QSignalSpy spy(_uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
-
-    Waypoint* wp = new Waypoint(0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
-    _uas->getWaypointManager()->addWaypointEditable(wp, true);
-
-    QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
-    _uas->getWaypointManager()->removeWaypoint(0);
-    QCOMPARE(spy.count(), 2); // 2 listChanged for remove wayPoint
-
-    QSignalSpy spyDestroyed(_uas->getWaypointManager(), SIGNAL(destroyed()));
-    QVERIFY(spyDestroyed.isValid());
-    QCOMPARE( spyDestroyed.count(), 0 );
-
-    delete _uas;// delete(destroyed) _uas for validating
-    _uas = NULL;
-    QCOMPARE(spyDestroyed.count(), 1);// count destroyed _uas should are 1
-    _uas = new UAS(_mavlink, UASID);
-    QSignalSpy spy2(_uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
-    QCOMPARE(spy2.count(), 0);
-    Waypoint* wp2 = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
-
-    _uas->getWaypointManager()->addWaypointEditable(wp2, true);
-    QCOMPARE(spy2.count(), 1);
-
-    _uas->getWaypointManager()->clearWaypointList();
-    QList<Waypoint*> wpList = _uas->getWaypointManager()->getWaypointEditableList();
-    QCOMPARE(wpList.count(), 1);
-    delete _uas;
-    _uas = NULL;
-    delete wp2;
-}

src/qgcunittest/UASUnitTest.h

-#ifndef UASUNITTEST_H
-#define UASUNITTEST_H
-
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "SerialLink.h"
-#include "UASInterface.h"
-#include "UnitTest.h"
-#include "LinkManager.h"
-#include "UASWaypointManager.h"
-#include "SerialLink.h"
-#include "LinkInterface.h"
-
-#define  UASID  100
-
-class UASUnitTest : public UnitTest
-{
-    Q_OBJECT
-    
-public:
-    UASUnitTest(void);
-
-private slots:
-    void init(void);
-    void cleanup(void);
-
-    void getUASID_test(void);
-    void getUASName_test(void);
-    void getUpTime_test(void);
-    void filterVoltage_test(void);
-    void getAutopilotType_test(void);
-    void setAutopilotType_test(void);
-    void getStatusForCode_test(void);
-    void getLocalX_test(void);
-    void getLocalY_test(void);
-    void getLocalZ_test(void);
-    void getLatitude_test(void);
-    void getLongitude_test(void);
-    void getAltitudeAMSL_test(void);
-    void getAltitudeRelative_test(void);
-    void getRoll_test(void);
-    void getPitch_test(void);
-    void getYaw_test(void);
-    void getSelected_test(void);
-    void getSystemType_test(void);
-    void getAirframe_test(void);
-    void setAirframe_test(void);
-    void getWaypointList_test(void);
-    void signalWayPoint_test(void);
-    void getWaypoint_test(void);
-    
-private:
-    MAVLinkProtocol*    _mavlink;
-    UAS*                _uas;
-};
-
-#endif

src/uas/FileManager.cc

@@ -25,6 +25,7 @@
 #include "QGC.h"
 #include "MAVLinkProtocol.h"
 #include "MainWindow.h"
+#include "Vehicle.h"
 
 #include <QFile>
 #include <QDir>
@@ -32,17 +33,17 @@
 
 QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
 
-FileManager::FileManager(QObject* parent, UASInterface* uas) :
+FileManager::FileManager(QObject* parent, Vehicle* vehicle) :
     QObject(parent),
     _currentOperation(kCOIdle),
-    _mav(uas),
+    _vehicle(vehicle),
     _lastOutgoingSeqNumber(0),
     _activeSession(0),
     _systemIdQGC(0)
 {
     connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
     
-    _systemIdServer = _mav->getUASID();
+    _systemIdServer = _vehicle->id();
     
     // Make sure we don't have bad structure packing
     Q_ASSERT(sizeof(RequestHeader) == 12);
@@ -720,7 +721,7 @@ void FileManager::_sendRequest(Request* request)
         _systemIdQGC = MAVLinkProtocol::instance()->getSystemId();
     }
     
-    Q_ASSERT(_mav);
+    Q_ASSERT(_vehicle);
     mavlink_msg_file_transfer_protocol_pack(_systemIdQGC,       // QGC System ID
                                             0,                  // QGC Component ID
                                             &message,           // Mavlink Message to pack into
@@ -729,5 +730,5 @@ void FileManager::_sendRequest(Request* request)
                                             0,                  // Target component
                                             (uint8_t*)request); // Payload
     
-    _mav->sendMessage(message);
+    _vehicle->sendMessage(message);
 }

src/uas/FileManager.h

@@ -32,12 +32,14 @@
 
 Q_DECLARE_LOGGING_CATEGORY(FileManagerLog)
 
+class Vehicle;
+
 class FileManager : public QObject
 {
     Q_OBJECT
     
 public:
-    FileManager(QObject* parent, UASInterface* uas);
+    FileManager(QObject* parent, Vehicle* vehicle);
     
     /// These methods are only used for testing purposes.
     bool _sendCmdTestAck(void) { return _sendOpcodeOnlyCmd(kCmdNone, kCOAck); };
@@ -200,7 +202,7 @@ private:
     OperationState  _currentOperation;              ///< Current operation of state machine
     QTimer          _ackTimer;                      ///< Used to signal a timeout waiting for an ack
     
-    UASInterface* _mav;
+    Vehicle* _vehicle;
     
     uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet
 

src/uas/QGCMAVLinkUASFactory.cc

-#include "QGCMAVLinkUASFactory.h"
-#include "UASManager.h"
-
-QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
-    QObject(parent)
-{
-}
-
-UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, MAV_AUTOPILOT autopilotType)
-{
-    UASInterface* uasInterface;
-
-    UAS* uasObject = new UAS(mavlink, sysid, autopilotType);
-    Q_CHECK_PTR(uasObject);
-    uasInterface = uasObject;
-
-    // Connect this robot to the UAS object
-    // It is IMPORTANT here to use the right object type,
-    // else the slot of the parent object is called (and thus the special
-    // packets never reach their goal)
-    connect(mavlink, &MAVLinkProtocol::messageReceived, uasObject, &UAS::receiveMessage);
-
-    // Make UAS aware that this link can be used to communicate with the actual robot
-    uasInterface->addLink(link);
-
-    // Now add UAS to "official" list, which makes the whole application aware of it
-    UASManager::instance()->addUAS(uasInterface);
-    
-    return uasInterface;
-}

src/uas/QGCMAVLinkUASFactory.h

-#ifndef QGCMAVLINKUASFACTORY_H
-#define QGCMAVLINKUASFACTORY_H
-
-#include <QObject>
-
-#include "QGCMAVLink.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-#include "LinkInterface.h"
-
-// INCLUDE ALL MAV/UAS CLASSES USING MAVLINK
-#include "UAS.h"
-
-class QGCMAVLinkUASFactory : public QObject
-{
-    Q_OBJECT
-public:
-    explicit QGCMAVLinkUASFactory(QObject *parent = 0);
-
-    /** @brief Create a new UAS object using MAVLink as protocol */
-    static UASInterface* createUAS(MAVLinkProtocol* mavlink, LinkInterface* link, int sysid, MAV_AUTOPILOT autopilotType);
-
-signals:
-
-public slots:
-
-};
-
-#endif // QGCMAVLINKUASFACTORY_H

src/uas/UAS.h

@@ -47,6 +47,8 @@ This file is part of the QGROUNDCONTROL project
 
 Q_DECLARE_LOGGING_CATEGORY(UASLog)
 
+class Vehicle;
+
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
  *
@@ -59,7 +61,7 @@ class UAS : public UASInterface
 {
     Q_OBJECT
 public:
-    UAS(MAVLinkProtocol* protocol, int id, MAV_AUTOPILOT autopilotType);
+    UAS(MAVLinkProtocol* protocol, Vehicle* vehicle);
     ~UAS();
 
     float lipoFull;  ///< 100% charged voltage
@@ -87,9 +89,6 @@ public:
     quint64 getUptime() const;
     /** @brief Add one measurement and get low-passed voltage */
     float filterVoltage(float value) const;
-    /** @brief Get the links associated with this robot */
-    QList<LinkInterface*> getLinks();
-    bool isLogReplay(void);
 
     Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
     Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
@@ -317,7 +316,6 @@ public:
         return yaw;
     }
 
-    bool getSelected() const;
     QVector3D getNedPosGlobalOffset() const
     {
         return nedPosGlobalOffset;
@@ -393,10 +391,6 @@ protected: //COMMENTS FOR TEST UNIT
     int uasId;                    ///< Unique system ID
     QMap<int, QString> components;///< IDs and names of all detected onboard components
     
-    /// List of all links associated with this UAS. We keep SharedLinkInterface objects which are QSharedPointer's in order to
-    /// maintain reference counts across threads. This way Link deletion works correctly.
-    QList<SharedLinkInterface> _links;
-    
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
     float receiveDropRate;        ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
@@ -861,25 +855,14 @@ public slots:
     void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
 #endif
 
-    /** @brief Add a link associated with this robot */
-    void addLink(LinkInterface* link);
-
     /** @brief Receive a message from one of the communication links. */
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    virtual void receiveMessage(mavlink_message_t message);
 
 #ifdef QGC_PROTOBUF_ENABLED
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
 #endif
 
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
-    void sendMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void sendMessage(mavlink_message_t message);
-
-    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
-    void setSelected();
-
     /** @brief Set current mode of operation, e.g. auto or manual, always uses the current arming status for safety reason */
     void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
 
@@ -964,8 +947,6 @@ signals:
     void groundSpeedChanged(double val, QString name);
     void airSpeedChanged(double val, QString name);
     void bearingToWaypointChanged(double val,QString name);
-    void _sendMessageOnThread(mavlink_message_t message);
-    void _sendMessageOnThreadLink(LinkInterface* link, mavlink_message_t message);
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);
@@ -996,16 +977,9 @@ protected slots:
     void writeSettings();
     /** @brief Read settings from disk */
     void readSettings();
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
-    void _sendMessageLink(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void _sendMessage(mavlink_message_t message);
-    
-private slots:
-    void _linkDisconnected(LinkInterface* link);
     
 private:
-    bool _containsLink(LinkInterface* link);
+    Vehicle* _vehicle;
 };
 
 

src/uas/UASInterface.h

@@ -120,8 +120,6 @@ public:
     virtual double getPitch() const = 0;
     virtual double getYaw() const = 0;
 
-    virtual bool getSelected() const = 0;
-
     virtual bool isArmed() const = 0;
 
     /** @brief Set the airframe of this MAV */
@@ -132,11 +130,6 @@ public:
 
     virtual FileManager* getFileManager() = 0;
 
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
-    virtual void sendMessage(LinkInterface* link, mavlink_message_t message) = 0;
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    virtual void sendMessage(mavlink_message_t message) = 0;
-
     enum Airframe {
         QGC_AIRFRAME_GENERIC = 0,
         QGC_AIRFRAME_EASYSTAR,
@@ -156,18 +149,6 @@ public:
         QGC_AIRFRAME_END_OF_ENUM
     };
 
-    /**
-         * @brief Get the links associated with this robot
-         *
-         * @return List with all links this robot is associated with. Association is usually
-         *         based on the fact that a message for this robot has been received through that
-         *         interface. The LinkInterface can support multiple protocols.
-         **/
-    virtual QList<LinkInterface*> getLinks() = 0;
-    
-    /// @returns true: UAS is connected to log replay link
-    virtual bool isLogReplay(void) = 0;
-
     /**
      * @brief Get the color for this UAS
      *
@@ -325,22 +306,6 @@ public slots:
     /** @brief Set world frame origin / home position at this GPS position */
     virtual void setHomePosition(double lat, double lon, double alt) = 0;
 
-    /**
-     * @brief Add a link to the list of current links
-     *
-     * Adding the link to the robot's internal link list will allow him so send its own messages
-     * over all registered links. Usually a link is added once a message for this particular robot
-     * has been received over a link, but adding could also be done manually.
-     * @warning Not all links should be added to all robots by default, because else all robots will
-     *          attempt to send over all links, typically choking wireless serial links.
-     */
-    virtual void addLink(LinkInterface* link) = 0;
-
-    /**
-     * @brief Set the current robot as focused in the user interface
-     */
-    virtual void setSelected() = 0;
-
     virtual void enableAllDataTransmission(int rate) = 0;
     virtual void enableRawSensorDataTransmission(int rate) = 0;
     virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
@@ -418,11 +383,6 @@ signals:
     void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
     void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
 
-    /**
-     * @brief A misconfiguration has been detected by the UAS
-     */
-    void misconfigurationDetected(UASInterface* uas);
-
     /** @brief A text message from the system has been received */
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
 
@@ -601,8 +561,6 @@ signals:
     void heartbeatTimeout(bool timeout, unsigned int ms);
     /** @brief Name of system changed */
     void nameChanged(QString newName);
-    /** @brief System has been selected as focused system */
-    void systemSelected(bool selected);
     /** @brief Core specifications have changed */
     void systemSpecsChanged(int uasId);
 

src/uas/UASManager.cc

@@ -19,6 +19,7 @@
 #include "QGC.h"
 #include "QGCMessageBox.h"
 #include "QGCApplication.h"
+#include "MultiVehicleManager.h"
 
 #define PI 3.1415926535897932384626433832795
 #define MEAN_EARTH_DIAMETER	12756274.0
@@ -28,7 +29,6 @@ IMPLEMENT_QGC_SINGLETON(UASManager, UASManagerInterface)
 
 UASManager::UASManager(QObject* parent) :
     UASManagerInterface(parent),
-    activeUAS(NULL),
     offlineUASWaypointManager(NULL),
     homeLat(47.3769),
     homeLon(8.549444),
@@ -42,20 +42,6 @@ UASManager::UASManager(QObject* parent) :
 UASManager::~UASManager()
 {
     storeSettings();
-    Q_ASSERT_X(systems.count() == 0, "~UASManager", "_shutdown should have already removed all uas");
-}
-
-void UASManager::_shutdown(void)
-{
-    QList<UASInterface*> uasList;
-    
-    foreach(UASInterface* uas, systems) {
-        uasList.append(uas);
-    }
-    
-    foreach(UASInterface* uas, uasList) {
-        removeUAS(uas);
-    }
 }
 
 void UASManager::storeSettings()
@@ -121,13 +107,8 @@ bool UASManager::setHomePositionAndNotify(double lat, double lon, double alt)
     // and checking for borders
     bool changed = setHomePosition(lat, lon, alt);
 
-    if (changed)
-    {
-        // Update all UAVs
-        foreach (UASInterface* mav, systems)
-        {
-            mav->setHomePosition(homeLat, homeLon, homeAlt);
-        }
+    if (changed) {
+        MultiVehicleManager::instance()->setHomePositionForAllVehicles(homeLat, homeLon, homeAlt);
     }
 
 	return changed;
@@ -240,7 +221,7 @@ void UASManager::nedToWgs84(const double& x, const double& y, const double& z, d
 void UASManager::uavChangedHomePosition(int uav, double lat, double lon, double alt)
 {
     // Accept home position changes from the active UAS
-    if (uav == activeUAS->getUASID())
+    if (uav == MultiVehicleManager::instance()->activeVehicle()->id())
     {
         if (setHomePosition(lat, lon, alt))
         {
@@ -258,202 +239,3 @@ void UASManager::uavChangedHomePosition(int uav, double lat, double lon, double
         }
     }
 }
-
-void UASManager::addUAS(UASInterface* uas)
-{
-    // WARNING: The active uas is set here
-    // and then announced below. This is necessary
-    // to make sure the getActiveUAS() function
-    // returns the UAS once the UASCreated() signal
-    // is emitted. The code is thus NOT redundant.
-    bool firstUAS = false;
-    if (activeUAS == NULL)
-    {
-        firstUAS = true;
-        activeUAS = uas;
-    }
-
-    // Only execute if there is no UAS at this index
-    if (!systems.contains(uas))
-    {
-        qDebug() << "Add new UAS: " << uas->getUASID();
-        systems.append(uas);
-        // Set home position on UAV if set in UI
-        // - this is done on a per-UAV basis
-        // Set home position in UI if UAV chooses a new one (caution! if multiple UAVs are connected, take care!)
-        connect(uas, SIGNAL(homePositionChanged(int,double,double,double)), this, SLOT(uavChangedHomePosition(int,double,double,double)));
-        emit UASCreated(uas);
-    }
-
-    // If there is no active UAS yet, set the first one as the active UAS
-    if (firstUAS)
-    {
-        setActiveUAS(uas);
-        // Call getActiveUASWaypointManager instead of referencing variable to make sure of creation
-        if (getActiveUASWaypointManager()->getWaypointEditableList().size() > 0)
-        {
-            if (QGCMessageBox::question(tr("Question"), tr("Do you want to append the offline waypoints to the ones currently on the UAV?"), QMessageBox::Yes, QMessageBox::No) == QMessageBox::Yes)
-            {
-                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
-                for (int i=0;i<offlineUASWaypointManager->getWaypointEditableList().size();i++)
-                {
-                    Waypoint *wp = uas->getWaypointManager()->createWaypoint();
-                    wp->setLatitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLatitude());
-                    wp->setLongitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLongitude());
-                    wp->setAltitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getAltitude());
-                }
-            }
-            offlineUASWaypointManager->deleteLater();
-            offlineUASWaypointManager = 0;
-        }
-    }
-}
-
-/**
- * @brief The function that should be used when removing UASes from QGC. emits UASDeletect(UASInterface*) when triggered
- *        so that UI elements can update accordingly.
- * @param uas The UAS to remove
- */
-void UASManager::removeUAS(UASInterface* uas)
-{
-    if (uas)
-    {
-        int listindex = systems.indexOf(uas);
-
-        // Remove this system from local data store.
-        systems.removeAt(listindex);
-
-        // If this is the active UAS, select a new one if one exists otherwise
-        // indicate that there are no active UASes.
-        if (uas == activeUAS)
-        {
-            if (systems.count())
-            {
-                setActiveUAS(systems.first());
-            }
-            else
-            {
-                setActiveUAS(NULL);
-            }
-        }
-
-        // Notify other UI elements that a UAS is being deleted before finally deleting it.
-        qDebug() << "Deleting UAS object: " << uas->getUASName();
-        emit UASDeleted(uas);
-        emit UASDeleted(uas->getUASID());
-        uas->deleteLater();
-    }
-}
-
-QList<UASInterface*> UASManager::getUASList()
-{
-    return systems;
-}
-
-UASInterface* UASManager::getActiveUAS()
-{
-    return activeUAS; ///< Return zero pointer if no UAS has been loaded
-}
-
-UASInterface* UASManager::silentGetActiveUAS()
-{
-    return activeUAS; ///< Return zero pointer if no UAS has been loaded
-}
-UASWaypointManager *UASManager::getActiveUASWaypointManager()
-{
-    if (activeUAS)
-    {
-        return activeUAS->getWaypointManager();
-    }
-    if (!offlineUASWaypointManager)
-    {
-        offlineUASWaypointManager = new UASWaypointManager(NULL);
-    }
-    return offlineUASWaypointManager;
-
-
-}
-
-bool UASManager::launchActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->launch();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::haltActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->halt();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::continueActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->go();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::returnActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->home();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::stopActiveUAS()
-{
-    // If the active UAS is set, execute command
-    if (getActiveUAS()) activeUAS->emergencySTOP();
-    return (activeUAS); ///< Returns true if the UAS exists, false else
-}
-
-bool UASManager::killActiveUAS()
-{
-    if (getActiveUAS()) activeUAS->emergencyKILL();
-    return (activeUAS);
-}
-
-bool UASManager::shutdownActiveUAS()
-{
-    if (getActiveUAS()) activeUAS->shutdown();
-    return (activeUAS);
-}
-
-UASInterface* UASManager::getUASForId(int id)
-{
-    UASInterface* system = NULL;
-
-    foreach(UASInterface* sys, systems) {
-        if (sys->getUASID() == id) {
-            system = sys;
-        }
-    }
-
-    // Return NULL if not found
-    return system;
-}
-
-void UASManager::setActiveUAS(UASInterface* uas)
-{
-    // Signal components that the last UAS is no longer active.
-    activeUASMutex.lock();
-    if (activeUAS != NULL) {
-        emit activeUASStatusChanged(activeUAS, false);
-        emit activeUASStatusChanged(activeUAS->getUASID(), false);
-    }
-    activeUAS = uas;
-    activeUASMutex.unlock();
-
-    // And signal that a new UAS is.
-    emit activeUASSet(activeUAS);
-    if (activeUAS)
-    {
-        activeUAS->setSelected();
-        emit activeUASSetListIndex(systems.indexOf(activeUAS));
-        emit activeUASStatusChanged(activeUAS, true);
-        emit activeUASStatusChanged(activeUAS->getUASID(), true);
-    }
-}
-

src/uas/UASManager.h

@@ -55,31 +55,6 @@ class UASManager : public UASManagerInterface
     DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
 
 public:
-    /**
-     * @brief Get the currently selected UAS
-     *
-     * @return NULL pointer if no UAS exists, active UAS else
-     **/
-    UASInterface* getActiveUAS();
-    /**
-     * @brief getActiveUASWaypointManager
-     * @return uas->getUASWaypointManager(), or if not connected, a singleton instance of a UASWaypointManager.
-     */
-    UASWaypointManager *getActiveUASWaypointManager();
-
-    UASInterface* silentGetActiveUAS();
-    /**
-     * @brief Get the UAS with this id
-     *
-     * Although not enforced by this implementation, the IDs are constrained to be
-     * in the range of 1 - 127 by the MAVLINK protocol.
-     *
-     * @param id unique system / aircraft id
-     * @return UAS with the given ID, NULL pointer else
-     **/
-    UASInterface* getUASForId(int id);
-
-    QList<UASInterface*> getUASList();
     /** @brief Get home position latitude */
     double getHomeLatitude() const {
         return homeLat;
@@ -145,88 +120,6 @@ public:
 
 
 public slots:
-
-    /**
-     * @brief Add a new UAS to the list
-     *
-     * This command will only be executed if this UAS does not yet exist.
-     * @param UAS unmanned air system to add
-     **/
-    void addUAS(UASInterface* UAS);
-
-    /** @brief Remove a system from the list. If this is the active UAS, it switches to another one calling setActiveUAS. Also triggers the UAS to kill itself. */
-    void removeUAS(UASInterface* uas);
-
-
-    /**
-      * @brief Set a UAS as currently selected. NULL is a valid value for when no other valid UAS's are available.
-      *
-      * @param UAS Unmanned Air System to set
-      **/
-    void setActiveUAS(UASInterface* UAS);
-
-
-    /**
-     * @brief Launch the active UAS
-     *
-     * The groundstation has always one Unmanned Air System selected.
-     * All commands are executed on the UAS in focus. This command starts
-     * the launch sequence.
-     *
-     * @return True if the UAS could be launched, false else
-     */
-    bool launchActiveUAS();
-
-    bool haltActiveUAS();
-
-    bool continueActiveUAS();
-
-    /**
-     * @brief Land the active UAS
-     *
-     * The groundstation has always one Unmanned Air System selected.
-     * All commands are executed on the UAS in focus. This command starts
-     * the land sequence. Depending on the onboard control, this could mean
-     * returning to the landing spot as well as descending on the current
-     * position.
-     *
-     * @return True if the UAS could be landed, false else
-     */
-    bool returnActiveUAS();
-
-
-    /**
-     * @brief EMERGENCY: Stop active UAS
-     *
-     * The groundstation has always one Unmanned Air System selected.
-     * All commands are executed on the UAS in focus. This command
-     * starts an emergency landing. Depending on the onboard control,
-     * this usually means descending rapidly on the current position.
-     *
-     * @warning This command can severely damage the UAS!
-     *
-     * @return True if the UAS could be landed, false else
-     */
-    bool stopActiveUAS();
-
-    /**
-     * @brief EMERGENCY: Kill active UAS
-     *
-     * The groundstation has always one Unmanned Air System selected.
-     * All commands are executed on the UAS in focus. This command
-     * shuts off all onboard motors immediately. This leads to a
-     * system crash, but might prevent external damage, e.g. to people.
-     * This command is secured by an additional popup message window.
-     *
-     * @warning THIS COMMAND RESULTS IN THE LOSS OF THE SYSTEM!
-     *
-     * @return True if the UAS could be landed, false else
-     */
-    bool killActiveUAS();
-
-    /** @brief Shut down the onboard operating system down */
-    bool shutdownActiveUAS();
-
     /** @brief Set the current home position, but do not change it on the UAVs */
     bool setHomePosition(double lat, double lon, double alt);
 
@@ -243,15 +136,10 @@ public slots:
     void loadSettings();
     /** @brief Store settings */
     void storeSettings();
-    
-    void _shutdown(void);
 
 
 protected:
-    QList<UASInterface*> systems;
-    UASInterface* activeUAS;
     UASWaypointManager *offlineUASWaypointManager;
-    QMutex activeUASMutex;
     double homeLat;
     double homeLon;
     double homeAlt;

src/uas/UASManagerInterface.h

@@ -57,11 +57,6 @@ class UASManagerInterface : public QGCSingleton
     Q_OBJECT
     
 public:
-    virtual UASInterface* getActiveUAS() = 0;
-    virtual UASWaypointManager *getActiveUASWaypointManager() = 0;
-    virtual UASInterface* silentGetActiveUAS() = 0;
-    virtual UASInterface* getUASForId(int id) = 0;
-    virtual QList<UASInterface*> getUASList() = 0;
     virtual double getHomeLatitude() const  = 0;
     virtual double getHomeLongitude() const  = 0;
     virtual double getHomeAltitude() const = 0;
@@ -75,39 +70,14 @@ public:
     virtual bool isInLocalNEDSafetyLimits(double x, double y, double z) = 0;
     
 public slots:
-    virtual void addUAS(UASInterface* UAS) = 0;
-    virtual void removeUAS(UASInterface* uas) = 0;
-    virtual void setActiveUAS(UASInterface* UAS) = 0;
-    virtual bool launchActiveUAS() = 0;
-    virtual bool haltActiveUAS() = 0;
-    virtual bool continueActiveUAS() = 0;
-    virtual bool returnActiveUAS() = 0;
-    virtual bool stopActiveUAS() = 0;
-    virtual bool killActiveUAS() = 0;
-    virtual bool shutdownActiveUAS() = 0;
     virtual bool setHomePosition(double lat, double lon, double alt) = 0;
     virtual bool setHomePositionAndNotify(double lat, double lon, double alt) = 0;
     virtual void setLocalNEDSafetyBorders(double x1, double y1, double z1, double x2, double y2, double z2) = 0;
     virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) = 0;
     virtual void loadSettings() = 0;
     virtual void storeSettings() = 0;
-    virtual void _shutdown(void) = 0;
     
 signals:
-    /** A new system was created */
-    void UASCreated(UASInterface* UAS);
-    /** A system was deleted */
-    void UASDeleted(UASInterface* UAS);
-    /** A system was deleted */
-    void UASDeleted(int systemId);
-    /** @brief The UAS currently under main operator control changed */
-    void activeUASSet(UASInterface* UAS);
-    /** @brief The UAS currently under main operator control changed */
-    void activeUASSetListIndex(int listIndex);
-    /** @brief The UAS currently under main operator control changed */
-    void activeUASStatusChanged(UASInterface* UAS, bool active);
-    /** @brief The UAS currently under main operator control changed */
-    void activeUASStatusChanged(int systemId, bool active);
     /** @brief Current home position changed */
     void homePositionChanged(double lat, double lon, double alt);
     

src/uas/UASMessageHandler.cc

@@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QGCApplication.h"
 #include "UASMessageHandler.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 
 UASMessage::UASMessage(int componentid, int severity, QString text)
 {
@@ -62,7 +62,7 @@ UASMessageHandler::UASMessageHandler(QObject *parent)
     , _normalCount(0)
     , _showErrorsInToolbar(false)
 {
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &UASMessageHandler::_activeVehicleChanged);
     emit textMessageReceived(NULL);
     emit textMessageCountChanged(0);
 }
@@ -86,10 +86,10 @@ void UASMessageHandler::clearMessages()
     emit textMessageCountChanged(0);
 }
 
-void UASMessageHandler::setActiveUAS(UASInterface* uas)
+void UASMessageHandler::_activeVehicleChanged(Vehicle* vehicle)
 {
     // If we were already attached to an autopilot, disconnect it.
-    if (_activeUAS && _activeUAS != uas)
+    if (_activeUAS)
     {
         disconnect(_activeUAS, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(handleTextMessage(int,int,int,QString)));
         _activeUAS = NULL;
@@ -97,8 +97,10 @@ void UASMessageHandler::setActiveUAS(UASInterface* uas)
         emit textMessageReceived(NULL);
     }
     // And now if there's an autopilot to follow, set up the UI.
-    if (uas)
+    if (vehicle)
     {
+        UAS* uas = vehicle->uas();
+        
         // Connect to the new UAS.
         clearMessages();
         _activeUAS = uas;

src/uas/UASMessageHandler.h

@@ -35,6 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QMutex>
 
 #include "QGCSingleton.h"
+#include "Vehicle.h"
 
 class UASInterface;
 class UASMessageHandler;
@@ -126,11 +127,6 @@ public:
     void showErrorsInToolbar(void) { _showErrorsInToolbar = true; }
     
 public slots:
-    /**
-     * @brief Set currently active UAS
-     * @param uas The current active UAS
-     */
-    void setActiveUAS(UASInterface* uas);
     /**
      * @brief Handle text message from current active UAS
      * @param uasid UAS Id
@@ -152,6 +148,9 @@ signals:
      */
     void textMessageCountChanged(int count);
     
+private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
+    
 private:
     // Stores the UAS that we're currently receiving messages from.
     UASInterface* _activeUAS;

src/uas/UASWaypointManager.h

@@ -38,8 +38,10 @@ This file is part of the QGROUNDCONTROL project
 #include <QPointer>
 #include "Waypoint.h"
 #include "QGCMAVLink.h"
+
 class UAS;
 class UASInterface;
+class Vehicle;
 
 /**
  * @brief Implementation of the MAVLINK waypoint protocol
@@ -65,7 +67,7 @@ private:
     }; ///< The possible states for the waypoint protocol
 
 public:
-    UASWaypointManager(UAS* uas=NULL);   ///< Standard constructor
+    UASWaypointManager(Vehicle* vehicle, UAS* uas);   ///< Standard constructor
     ~UASWaypointManager();
     bool guidedModeSupported();
 
@@ -171,7 +173,7 @@ private slots:
     void _updateWPonTimer(void);                               ///< Starts requesting WP on timer timeout
 
 private:
-    UAS* uas;                                       ///< Reference to the corresponding UAS
+    Vehicle* _vehicle;
     quint32 current_retries;                        ///< The current number of retries left
     quint16 current_wp_id;                          ///< The last used waypoint ID in the current protocol transaction
     quint16 current_count;                          ///< The number of waypoints in the current protocol transaction

src/ui/HDDisplay.cc

@@ -19,13 +19,13 @@
 #include <QMenu>
 #include <QSettings>
 #include <qmath.h>
-#include "UASManager.h"
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
 #include "MG.h"
 #include "QGC.h"
 #include "QGCApplication.h"
 #include <QDebug>
+#include "MultiVehicleManager.h"
 
 HDDisplay::HDDisplay(const QStringList &plotList, QString title, QWidget *parent) :
     QGraphicsView(parent),
@@ -126,8 +126,8 @@ HDDisplay::HDDisplay(const QStringList &plotList, QString title, QWidget *parent
     if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
 
     // Connect with UAS
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection);
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &HDDisplay::_activeVehicleChanged);
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 }
 
 HDDisplay::~HDDisplay()
@@ -471,7 +471,7 @@ void HDDisplay::renderOverlay()
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
  */
-void HDDisplay::setActiveUAS(UASInterface* uas)
+void HDDisplay::_activeVehicleChanged(Vehicle* vehicle)
 {
     // Disconnect any previously connected active UAS
     if (this->uas != NULL) {
@@ -479,10 +479,10 @@ void HDDisplay::setActiveUAS(UASInterface* uas)
         this->uas = NULL;
     }
 
-    if (uas) {
+    if (vehicle) {
+        this->uas = vehicle->uas();
         // Now connect the new UAS
         addSource(uas);
-        this->uas = uas;
     }
 }
 

src/ui/HDDisplay.h

@@ -42,6 +42,7 @@ This file is part of the QGROUNDCONTROL project
 #include <cmath>
 
 #include "UASInterface.h"
+#include "Vehicle.h"
 
 namespace Ui
 {
@@ -67,8 +68,6 @@ public slots:
     /** @brief Update the HDD with new data */
     void updateValue(const int uasId, const QString& name, const QString& unit, const QVariant &value, const quint64 msec);
 	
-    virtual void setActiveUAS(UASInterface* uas);
-	
 	/** @brief Connects a source to the updateValue() signals */
     void addSource(QObject* obj);
 	/** @brief Disconnects a source to the updateValue() signals */
@@ -197,6 +196,9 @@ protected:
     QAction* setTitleAction;   ///< Action setting the title
     QAction* setColumnsAction; ///< Action setting the number of columns
     bool valuesChanged;
+    
+private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
 
 private:
     Ui::HDDisplay *m_ui;

src/ui/HSIDisplay.cc

@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDoubleSpinBox>
 #include <QDebug>
 
+#include "MultiVehicleManager.h"
 #include "UASManager.h"
 #include "HSIDisplay.h"
 #include "QGC.h"
@@ -178,16 +179,9 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     // XXX this looks a potential recursive issue
     //connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
 
-    if (UASManager::instance()->getActiveUAS())
-    {
-        setActiveUAS(UASManager::instance()->getActiveUAS());
-    }
-
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
-            this, SLOT(setActiveUAS(UASInterface*)));
-
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
-            this, SLOT(setActiveUAS(UASInterface*)));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &HSIDisplay::_activeVehicleChanged);
+    
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 
     setFocusPolicy(Qt::StrongFocus);
 }
@@ -918,7 +912,7 @@ void HSIDisplay::setMetricWidth(double width)
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
  */
-void HSIDisplay::setActiveUAS(UASInterface* uas)
+void HSIDisplay::_activeVehicleChanged(Vehicle* vehicle)
 {
     if (this->uas != NULL) {
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
@@ -953,9 +947,12 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, &UASInterface::navigationControllerErrorsChanged,
                    this, &HSIDisplay::UpdateNavErrors);
     }
+    
+    this->uas = NULL;
 
-    if (uas)
+    if (vehicle)
     {
+        this->uas = vehicle->uas();
         connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)),
                 this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),
@@ -1019,8 +1016,6 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         statusClearTimer.stop();
     }
 
-    this->uas = uas;
-
     resetMAVState();
 }
 

src/ui/HSIDisplay.h

@@ -42,6 +42,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "HDDisplay.h"
 #include "MG.h"
+#include "Vehicle.h"
 
 class HSIDisplay : public HDDisplay
 {
@@ -51,7 +52,6 @@ public:
     ~HSIDisplay();
 
 public slots:
-    void setActiveUAS(UASInterface* uas);
     /** @brief Set the width in meters this widget shows from top */
     void setMetricWidth(double width);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
@@ -422,7 +422,8 @@ protected:
     bool userZSetPointSet;   ///< User set the Z position already
     bool userYawSetPointSet;   ///< User set the YAW position already
 
-private:
+private slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
 };
 
 #endif // HSIDISPLAY_H

src/ui/HUD.cc

@@ -40,12 +40,12 @@ This file is part of the QGROUNDCONTROL project
 #include <qmath.h>
 #include <limits>
 
-#include "UASManager.h"
 #include "UAS.h"
 #include "HUD.h"
 #include "QGC.h"
 #include "QGCApplication.h"
 #include "QGCFileDialog.h"
+#include "MultiVehicleManager.h"
 
 /**
  * @warning The HUD widget will not start painting its content automatically
@@ -159,11 +159,11 @@ HUD::HUD(int width, int height, QWidget* parent)
     connect(qgcApp(), &QGCApplication::styleChanged, this, &HUD::styleChanged);
 
     // Connect with UAS
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &HUD::_activeVehicleChanged);
 
     createActions();
-
-    if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
+    
+    _activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 }
 
 HUD::~HUD()
@@ -265,7 +265,7 @@ void HUD::createActions()
  *
  * @param uas the UAS/MAV to monitor/display with the HUD
  */
-void HUD::setActiveUAS(UASInterface* uas)
+void HUD::_activeVehicleChanged(Vehicle* vehicle)
 {
     if (this->uas != NULL) {
         // Disconnect any previously connected active MAV
@@ -288,7 +288,10 @@ void HUD::setActiveUAS(UASInterface* uas)
         }
     }
 
-    if (uas) {
+    this->uas = NULL;
+    
+    if (vehicle) {
+        this->uas = vehicle->uas();
         // Now connect the new UAS
         // Setup communication
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
@@ -310,8 +313,6 @@ void HUD::setActiveUAS(UASInterface* uas)
         }
     }
 
-    // Set new UAS
-    this->uas = uas;
 }
 
 //void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)

src/ui/HUD.h

@@ -39,8 +39,10 @@ This file is part of the QGROUNDCONTROL project
 #include <QFontDatabase>
 #include <QTimer>
 #include <QVector3D>
+
 #include "UASInterface.h"
 #include "MainWindow.h"
+#include "Vehicle.h"
 
 /**
  * @brief Displays a Head Up Display (HUD)
@@ -62,9 +64,6 @@ public:
 public slots:
     void styleChanged(bool styleIsDark);
 
-    /** @brief Set the currently monitored UAS */
-    virtual void setActiveUAS(UASInterface* uas);
-
     /** @brief Attitude from main autopilot / system state */
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
     /** @brief Attitude from one specific component / redundant autopilot */
@@ -98,6 +97,7 @@ public slots:
 
 
 protected slots:
+    void _activeVehicleChanged(Vehicle* vehicle);
     void paintRollPitchStrips();
     void paintPitchLines(float pitch, QPainter* painter);
     /** @brief Paint text on top of the image and OpenGL drawings */

src/ui/JoystickAxis.cc

 #include "JoystickAxis.h"
 #include "JoystickInput.h"
 #include "ui_JoystickAxis.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 #include <QString>
 
 JoystickAxis::JoystickAxis(int id, QWidget *parent) :
@@ -38,7 +38,7 @@ void JoystickAxis::setMapping(JoystickInput::JOYSTICK_INPUT_MAPPING newMapping)
     {
         ui->rangeCheckBox->hide();
     }
-    this->setActiveUAS(UASManager::instance()->getActiveUAS());
+    this->activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
 }
 
 void JoystickAxis::setInverted(bool newValue)
@@ -55,7 +55,7 @@ void JoystickAxis::mappingComboBoxChanged(int newMapping)
 {
     JoystickInput::JOYSTICK_INPUT_MAPPING mapping = (JoystickInput::JOYSTICK_INPUT_MAPPING)newMapping;
     emit mappingChanged(id, mapping);
-    updateUIBasedOnUAS(UASManager::instance()->getActiveUAS(), mapping);
+    updateUIBasedOnUAS(MultiVehicleManager::instance()->activeVehicle(), mapping);
 }
 
 void JoystickAxis::inversionCheckBoxChanged(bool inverted)
@@ -68,13 +68,19 @@ void JoystickAxis::rangeCheckBoxChanged(bool limited)
     emit rangeChanged(id, limited);
 }
 
-void JoystickAxis::setActiveUAS(UASInterface* uas)
+void JoystickAxis::activeVehicleChanged(Vehicle* vehicle)
 {
-    updateUIBasedOnUAS(uas, (JoystickInput::JOYSTICK_INPUT_MAPPING)ui->comboBox->currentIndex());
+    updateUIBasedOnUAS(vehicle, (JoystickInput::JOYSTICK_INPUT_MAPPING)ui->comboBox->currentIndex());
 }
 
-void JoystickAxis::updateUIBasedOnUAS(UASInterface* uas, JoystickInput::JOYSTICK_INPUT_MAPPING axisMapping)
+void JoystickAxis::updateUIBasedOnUAS(Vehicle* vehicle, JoystickInput::JOYSTICK_INPUT_MAPPING axisMapping)
 {
+    UAS* uas = NULL;
+    
+    if (vehicle) {
+        uas = vehicle->uas();
+    }
+    
     // Set the throttle display to only positive if:
     // * This is the throttle axis AND
     // * The current UAS can't reverse OR there is no current UAS

src/ui/JoystickAxis.h

@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QWidget>
 #include "JoystickInput.h"
+#include "Vehicle.h"
 
 namespace Ui {
 class JoystickAxis;
@@ -62,7 +63,7 @@ public slots:
      */
     void setValue(float value);
     /** @brief Specify the UAS that this axis should track for displaying throttle properly. */
-    void setActiveUAS(UASInterface* uas);
+    void activeVehicleChanged(Vehicle* vehicle);
     
 private:
     int id; ///< The ID for this axis. Corresponds to the IDs used by JoystickInput.
@@ -72,7 +73,7 @@ private:
      * @param uas The currently-active UAS.
      * @param axisMapping The new mapping for this axis.
      */
-    void updateUIBasedOnUAS(UASInterface* uas, JoystickInput::JOYSTICK_INPUT_MAPPING axisMapping);
+    void updateUIBasedOnUAS(Vehicle* vehicle, JoystickInput::JOYSTICK_INPUT_MAPPING axisMapping);
 
 private slots:
     /** @brief Handle changes to the mapping dropdown bar. */

src/ui/JoystickButton.cc

 #include "JoystickButton.h"
 #include "ui_JoystickButton.h"
-#include "UASManager.h"
+#include "MultiVehicleManager.h"
 
 JoystickButton::JoystickButton(int id, QWidget *parent) :
     QWidget(parent),
@@ -9,7 +9,7 @@ JoystickButton::JoystickButton(int id, QWidget *parent) :
 {
     m_ui->setupUi(this);
     m_ui->joystickButtonLabel->setText(QString::number(id));
-    this->setActiveUAS(UASManager::instance()->getActiveUAS());
+    this->activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle());
     connect(m_ui->joystickAction, SIGNAL(currentIndexChanged(int)), this, SLOT(actionComboBoxChanged(int)));
 }
 
@@ -18,12 +18,14 @@ JoystickButton::~JoystickButton()
     delete m_ui;
 }
 
-void JoystickButton::setActiveUAS(UASInterface* uas)
+void JoystickButton::activeVehicleChanged(Vehicle* vehicle)
 {
     // Disable signals so that changes to joystickAction don't trigger JoystickInput updates.
     disconnect(m_ui->joystickAction, SIGNAL(currentIndexChanged(int)), this, SLOT(actionComboBoxChanged(int)));
-    if (uas)
+    if (vehicle)
     {
+        UAS* uas = vehicle->uas();
+        
         m_ui->joystickAction->setEnabled(true);
         m_ui->joystickAction->clear();
         m_ui->joystickAction->addItem("--");

src/ui/JoystickButton.h

@@ -30,7 +30,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QWidget>
 
-#include "UASInterface.h"
+#include "Vehicle.h"
 
 namespace Ui
 {
@@ -47,7 +47,7 @@ public:
 
 public slots:
     /** @brief Specify the UAS that this axis should track for displaying throttle properly. */
-    void setActiveUAS(UASInterface* uas);
+    void activeVehicleChanged(Vehicle* vehicle);
     /** @brieft Specify which action this button should correspond to.
      * Values 0 and higher indicate a specific action, while -1 indicates no action. */
     void setAction(int index);

src/ui/JoystickWidget.cc

@@ -187,7 +187,7 @@ void JoystickWidget::createUIForJoystick()
             JoystickButton* button = new JoystickButton(i, m_ui->buttonBox);
             button->setAction(joystick->getActionForButton(i));
             connect(button, SIGNAL(actionChanged(int,int)), this->joystick, SLOT(setButtonAction(int,int)));
-            connect(this->joystick, SIGNAL(activeUASSet(UASInterface*)), button, SLOT(setActiveUAS(UASInterface*)));
+            connect(this->joystick, &JoystickInput::activeVehicleChanged, button, &JoystickButton::activeVehicleChanged);
             m_ui->buttonLayout->addWidget(button);
             buttons.append(button);
         }
@@ -230,7 +230,7 @@ void JoystickWidget::createUIForJoystick()
             connect(axis, SIGNAL(mappingChanged(int,JoystickInput::JOYSTICK_INPUT_MAPPING)), this->joystick, SLOT(setAxisMapping(int,JoystickInput::JOYSTICK_INPUT_MAPPING)));
             connect(axis, SIGNAL(inversionChanged(int,bool)), this->joystick, SLOT(setAxisInversion(int,bool)));
             connect(axis, SIGNAL(rangeChanged(int,bool)), this->joystick, SLOT(setAxisRangeLimit(int,bool)));
-            connect(this->joystick, SIGNAL(activeUASSet(UASInterface*)), axis, SLOT(setActiveUAS(UASInterface*)));
+            connect(this->joystick, &JoystickInput::activeVehicleChanged, axis, &JoystickAxis::activeVehicleChanged);
             m_ui->axesLayout->addWidget(axis);
             axes.append(axis);
         }

src/ui/MainWindow.cc

@@ -71,6 +71,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
 #include "QGCDockWidget.h"
+#include "MultiVehicleManager.h"
 #include "CustomCommandWidget.h"
 
 #ifdef UNITTEST_BUILD
@@ -569,13 +570,13 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
 #ifndef __mobile__
 void MainWindow::_showHILConfigurationWidgets(void)
 {
-    UASInterface* uas = UASManager::instance()->getActiveUAS();
+    Vehicle* vehicle = MultiVehicleManager::instance()->activeVehicle();
 
-    if (!uas) {
+    if (!vehicle) {
         return;
     }
 
-    UAS* mav = dynamic_cast<UAS*>(uas);
+    UAS* mav = vehicle->uas();
     Q_ASSERT(mav);
 
     int uasId = mav->getUASID();
@@ -757,26 +758,12 @@ void MainWindow::connectCommonActions()
         _ui.actionSetup->activate(QAction::Trigger);
     }
 
-    // The UAS actions are not enabled without connection to system
-    _ui.actionLiftoff->setEnabled(false);
-    _ui.actionLand->setEnabled(false);
-    _ui.actionEmergency_Kill->setEnabled(false);
-    _ui.actionEmergency_Land->setEnabled(false);
-    _ui.actionShutdownMAV->setEnabled(false);
-
     // Connect actions from ui
     connect(_ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(manageLinks()));
 
     // Connect internal actions
-    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));
-    connect(UASManager::instance(), SIGNAL(UASDeleted(int)), this, SLOT(UASDeleted(int)));
-
-    // Unmanned System controls
-    connect(_ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS()));
-    connect(_ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
-    connect(_ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
-    connect(_ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));
-    connect(_ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MainWindow::_vehicleRemoved);
 
     // Views actions
     connect(_ui.actionFlight, SIGNAL(triggered()), this, SLOT(loadFlightView()));
@@ -853,17 +840,9 @@ void MainWindow::commsWidgetDestroyed(QObject *obj)
     }
 }
 
-void MainWindow::UASCreated(UASInterface* uas)
+void MainWindow::_vehicleAdded(Vehicle* vehicle)
 {
-    // The UAS actions are not enabled without connection to system
-    _ui.actionLiftoff->setEnabled(true);
-    _ui.actionLand->setEnabled(true);
-    _ui.actionEmergency_Kill->setEnabled(true);
-    _ui.actionEmergency_Land->setEnabled(true);
-    _ui.actionShutdownMAV->setEnabled(true);
-
-    connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
-    connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*)));
+    connect(vehicle->uas(), SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
     // HIL
 #ifndef __mobile__
@@ -883,11 +862,13 @@ void MainWindow::UASCreated(UASInterface* uas)
     }
 }
 
-void MainWindow::UASDeleted(int uasId)
+void MainWindow::_vehicleRemoved(Vehicle* vehicle)
 {
-    if (_mapUasId2HilDockWidget.contains(uasId)) {
-        _mapUasId2HilDockWidget[uasId]->deleteLater();
-        _mapUasId2HilDockWidget.remove(uasId);
+    int vehicleId = vehicle->id();
+    
+    if (_mapUasId2HilDockWidget.contains(vehicleId)) {
+        _mapUasId2HilDockWidget[vehicleId]->deleteLater();
+        _mapUasId2HilDockWidget.remove(vehicleId);
     }
 }
 
@@ -1029,33 +1010,6 @@ void MainWindow::_showDockWidgetAction(bool show)
 }
 
 
-void MainWindow::handleMisconfiguration(UASInterface* uas)
-{
-    static QTime lastTime;
-    // We have to debounce this signal
-    if (!lastTime.isValid()) {
-        lastTime.start();
-    } else {
-        if (lastTime.elapsed() < 10000) {
-            lastTime.start();
-            return;
-        }
-    }
-    // Ask user if they want to handle this now
-    QMessageBox::StandardButton button =
-        QGCMessageBox::question(
-            tr("Missing or Invalid Onboard Configuration"),
-            tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?"),
-            QMessageBox::Ok | QMessageBox::Cancel,
-            QMessageBox::Ok);
-    if (button == QMessageBox::Ok) {
-        // They want to handle it, make sure this system is selected
-        UASManager::instance()->setActiveUAS(uas);
-        // Flick to config view
-        loadSetupView();
-    }
-}
-
 void MainWindow::loadAnalyzeView()
 {
     if (_currentView != VIEW_ANALYZE)

src/ui/MainWindow.h

@@ -65,6 +65,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMAVLinkLogPlayer.h"
 #include "MAVLinkDecoder.h"
 #include "QGCUASFileViewMulti.h"
+#include "Vehicle.h"
 
 class QGCMapTool;
 class QGCMAVLinkMessageSender;
@@ -134,13 +135,6 @@ public slots:
     /** @brief Show the application settings */
     void showSettings();
 
-    /** @brief Add a new UAS */
-    void UASCreated(UASInterface* uas);
-
-    /** @brief Remove an old UAS */
-    void UASDeleted(int uasID);
-
-    void handleMisconfiguration(UASInterface* uas);
     /** @brief Load configuration views */
     void loadSetupView();
     /** @brief Load view for pilot */
@@ -288,6 +282,10 @@ private slots:
     void _showQmlTestWidget(void);
 #endif
 	void _closeWindow(void) { close(); }
+    
+private slots:
+    void _vehicleAdded(Vehicle* vehicle);
+    void _vehicleRemoved(Vehicle* vehicle);
 
 private:
     /// Constructor is private since all creation should be through MainWindow::_create

src/ui/MainWindow.ui

@@ -117,52 +117,6 @@
     <string>Ctrl+Q</string>
    </property>
   </action>
-  <action name="actionLiftoff">
-   <property name="enabled">
-    <bool>true</bool>
-   </property>
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/res/Launch</normaloff>
-     <normalon>:/res/Launch</normalon>:/res/Launch</iconset>
-   </property>
-   <property name="text">
-    <string>Liftoff</string>
-   </property>
-  </action>
-  <action name="actionLand">
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/res/Land</normaloff>:/res/Land</iconset>
-   </property>
-   <property name="text">
-    <string>Land</string>
-   </property>
-  </action>
-  <action name="actionEmergency_Land">
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/res/Kill</normaloff>:/res/Kill</iconset>
-   </property>
-   <property name="text">
-    <string>Emergency Land</string>
-   </property>
-   <property name="shortcut">
-    <string>Ctrl+L</string>
-   </property>
-  </action>
-  <action name="actionEmergency_Kill">
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/res/Kill</normaloff>:/res/Kill</iconset>
-   </property>
-   <property name="text">
-    <string>Kill UAS</string>
-   </property>
-   <property name="shortcut">
-    <string>Ctrl+K</string>
-   </property>
-  </action>
   <action name="actionAdd_Link">
    <property name="text">
     <string>Manage Communication Links</string>
@@ -215,21 +169,6 @@
     <string>Mute Audio Output</string>
    </property>
   </action>
-  <action name="actionShutdownMAV">
-   <property name="icon">
-    <iconset resource="../../qgroundcontrol.qrc">
-     <normaloff>:/res/Shutdown</normaloff>:/res/Shutdown</iconset>
-   </property>
-   <property name="text">
-    <string>Shutdown MAV</string>
-   </property>
-   <property name="toolTip">
-    <string>Shutdown the onboard computer - works not during flight</string>
-   </property>
-   <property name="statusTip">
-    <string>Shutdown the onboard computer - works not during flight</string>
-   </property>
-  </action>
   <action name="actionSettings">
    <property name="text">
     <string>Settings</string>