Merge pull request #2934 from DonLakeFlyer/SimpleFlightMode

Simple flight mode config

qgroundcontrol.pro

@@ -590,7 +590,8 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.h \
     src/AutoPilotPlugins/PX4/AirframeComponentController.h \
     src/AutoPilotPlugins/PX4/FlightModesComponent.h \
-    src/AutoPilotPlugins/PX4/FlightModesComponentController.h \
+    src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h \
+    src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h \
     src/AutoPilotPlugins/PX4/PowerComponent.h \
     src/AutoPilotPlugins/PX4/PowerComponentController.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
@@ -646,7 +647,8 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/AirframeComponentAirframes.cc \
     src/AutoPilotPlugins/PX4/AirframeComponentController.cc \
     src/AutoPilotPlugins/PX4/FlightModesComponent.cc \
-    src/AutoPilotPlugins/PX4/FlightModesComponentController.cc \
+    src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.cc \
+    src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc \
     src/AutoPilotPlugins/PX4/PowerComponent.cc \
     src/AutoPilotPlugins/PX4/PowerComponentController.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \

qgroundcontrol.qrc

@@ -14,7 +14,9 @@
         <file alias="LogDownload.qml">src/ViewWidgets/LogDownload.qml</file>
         <file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
         <file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
-        <file alias="FlightModesComponent.qml">src/AutoPilotPlugins/PX4/FlightModesComponent.qml</file>
+        <file alias="PX4FlightModes.qml">src/AutoPilotPlugins/PX4/PX4FlightModes.qml</file>
+        <file alias="PX4AdvancedFlightModes.qml">src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml</file>
+        <file alias="PX4SimpleFlightModes.qml">src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml</file>
         <file alias="FlightModesComponentSummary.qml">src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml</file>
         <file alias="APMFlightModesComponent.qml">src/AutoPilotPlugins/APM/APMFlightModesComponent.qml</file>
         <file alias="APMFlightModesComponentSummary.qml">src/AutoPilotPlugins/APM/APMFlightModesComponentSummary.qml</file>

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -63,18 +63,30 @@ bool FlightModesComponent::requiresSetup(void) const
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
-            _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+        return true;
+    }
+
+    if (_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+            (_autopilot->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+        return true;
+    }
+
+    return false;
 }
 
 QStringList FlightModesComponent::setupCompleteChangedTriggerList(void) const
 {
-    return QStringList("RC_MAP_MODE_SW");
+    QStringList list;
+
+    list << QStringLiteral("RC_MAP_MODE_SW") << QStringLiteral("RC_MAP_FLTMODE");
+
+    return list;
 }
 
 QUrl FlightModesComponent::setupSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/FlightModesComponent.qml");
+    return QUrl::fromUserInput("qrc:/qml/PX4FlightModes.qml");
 }
 
 QUrl FlightModesComponent::summaryQmlSource(void) const

src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml

-import QtQuick 2.2
+import QtQuick          2.2
 import QtQuick.Controls 1.2
 
-import QGroundControl.FactSystem 1.0
-import QGroundControl.FactControls 1.0
-import QGroundControl.Controls 1.0
-import QGroundControl.Palette 1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.ScreenTools   1.0
 
 FactPanel {
     id:             panel
@@ -14,33 +15,68 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact modeSwFact:   controller.getParameterFact(-1, "RC_MAP_MODE_SW")
-    property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
-    property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
-    property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
+    property Fact _nullFact
+    property Fact _rcMapFltmode:    controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
+    property Fact _rcMapModeSw:     controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+    property bool _simpleMode:      _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
 
-    Column {
+
+    Loader {
         anchors.fill:       parent
-        anchors.margins:    8
+        sourceComponent:    _simpleMode ? simple : advanced
+    }
 
-        VehicleSummaryRow {
-            labelText: "Mode switch:"
-            valueText: modeSwFact ? (modeSwFact.value === 0 ? "Setup required" : modeSwFact.valueString) : ""
-        }
+    Component {
+        id: simple
 
-        VehicleSummaryRow {
-            labelText: "Position Ctl switch:"
-            valueText: posCtlSwFact ? (posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString) : ""
-        }
+        Column {
+            anchors.margins:    8
 
-        VehicleSummaryRow {
-            labelText: "Loiter switch:"
-            valueText: loiterSwFact ? (loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString) : ""
+            VehicleSummaryRow {
+                labelText: "Mode switch:"
+                valueText: _rcMapFltmode.value === 0 ? "Setup required" : _rcMapFltmode.enumStringValue
+            }
+
+            Repeater {
+                model: 6
+
+                VehicleSummaryRow {
+                    labelText: "Flight Mode " + (index + 1) + ":"
+                    valueText: controller.getParameterFact(-1, "COM_FLTMODE" + (index + 1)).enumStringValue
+                }
+            }
         }
+    }
+
+    Component {
+        id: advanced
+
+        Column {
+            anchors.margins:    8
+
+            property Fact posCtlSwFact: controller.getParameterFact(-1, "RC_MAP_POSCTL_SW")
+            property Fact loiterSwFact: controller.getParameterFact(-1, "RC_MAP_LOITER_SW")
+            property Fact returnSwFact: controller.getParameterFact(-1, "RC_MAP_RETURN_SW")
+
+            VehicleSummaryRow {
+                labelText: "Mode switch:"
+                valueText: _rcMapModeSw.value === 0 ? "Setup required" : _rcMapModeSw.valueString
+            }
+
+            VehicleSummaryRow {
+                labelText: "Position Ctl switch:"
+                valueText: posCtlSwFact.value === 0 ? "Disabled" : posCtlSwFact.valueString
+            }
+
+            VehicleSummaryRow {
+                labelText: "Loiter switch:"
+                valueText: loiterSwFact.value === 0 ? "Disabled" : loiterSwFact.valueString
+            }
 
-        VehicleSummaryRow {
-            labelText: "Return switch:"
-            valueText: returnSwFact ? (returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString) : ""
+            VehicleSummaryRow {
+                labelText: "Return switch:"
+                valueText: returnSwFact.value === 0 ? "Disabled" : returnSwFact.valueString
+            }
         }
     }
 }

src/AutoPilotPlugins/PX4/FlightModesComponentController.h → src/AutoPilotPlugins/PX4/PX4AdvancedFlightModesController.h

@@ -24,8 +24,8 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#ifndef FLIGHTMODESCOMPONENTCONTROLLER_H
-#define FLIGHTMODESCOMPONENTCONTROLLER_H
+#ifndef PX4AdvancedFlightModesController_H
+#define PX4AdvancedFlightModesController_H
 
 #include <QObject>
 #include <QQuickItem>
@@ -37,12 +37,12 @@
 #include "FactPanelController.h"
 
 /// MVC Controller for FlightModesComponent.qml.
-class FlightModesComponentController : public FactPanelController
+class PX4AdvancedFlightModesController : public FactPanelController
 {
     Q_OBJECT
     
 public:
-    FlightModesComponentController(void);
+    PX4AdvancedFlightModesController(void);
     
     Q_PROPERTY(bool validConfiguration MEMBER _validConfiguration CONSTANT)
     Q_PROPERTY(QString configurationErrors MEMBER _configurationErrors CONSTANT)

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -24,7 +24,7 @@
 #include "PX4AutoPilotPlugin.h"
 #include "AutoPilotPluginManager.h"
 #include "PX4AirframeLoader.h"
-#include "FlightModesComponentController.h"
+#include "PX4AdvancedFlightModesController.h"
 #include "AirframeComponentController.h"
 #include "UAS.h"
 #include "FirmwarePlugin/PX4/PX4ParameterMetaData.h"  // FIXME: Hack

src/AutoPilotPlugins/PX4/PX4FlightModes.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
+import QtQuick.Dialogs          1.2
+import QtQuick.Layouts          1.1
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.ScreenTools   1.0
+
+/// PX4 Flight Mode configuration. This control will load either the Simple or Advanced Flight Mode config
+/// based on current parameter settings.
+QGCView {
+    id:         rootQGCView
+    viewPanel:  panel
+
+    property Fact _nullFact
+    property Fact _rcMapFltmode:    controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
+    property Fact _rcMapModeSw:     controller.getParameterFact(-1, "RC_MAP_MODE_SW")
+    property bool _simpleMode:      _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+    FactPanelController {
+        id:         controller
+        factPanel:  panel
+    }
+
+    QGCViewPanel {
+        id:             panel
+        anchors.fill:   parent
+
+        Loader {
+            anchors.fill:   parent
+            source:         _simpleMode ? "qrc:/qml/PX4SimpleFlightModes.qml" : "qrc:/qml/PX4AdvancedFlightModes.qml"
+
+            property var qgcView:       rootQGCView
+            property var qgcViewPanel:  panel
+        }
+    } // QGCViewPanel
+} // QGCView

src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml

+/*=====================================================================
+
+ QGroundControl Open Source Ground Control Station
+
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+ This file is part of the QGROUNDCONTROL project
+
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+ ======================================================================*/
+
+import QtQuick                  2.5
+import QtQuick.Controls         1.2
+
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.Controllers   1.0
+import QGroundControl.ScreenTools   1.0
+
+Item {
+    id: root
+
+    // The following properties must be pushed in from the Loader
+    //property var qgcView      - QGCView control
+    //property var qgcViewPanel - QGCViewPanel control
+
+    property real _margins: ScreenTools.defaultFontPixelHeight / 2
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
+
+    PX4SimpleFlightModesController {
+        id:         controller
+        factPanel:  qgcViewPanel
+    }
+
+    QGCFlickable {
+        anchors.fill:   parent
+        clip:           true
+        contentWidth:   contentColumn.width
+        contentHeight:  contentColumn.height
+
+        Column {
+            id:         contentColumn
+            spacing:    _margins
+
+            QGCLabel {
+                id:             flightModeLabel
+                text:           "Flight Mode Settings"
+                font.weight:    Font.DemiBold
+            }
+
+            Item {
+                height: modeChannelCombo.height
+                width:  modeChannelCombo.x + modeChannelCombo.width
+
+                QGCLabel {
+                    id:                 modeChannelLabel
+                    anchors.baseline:   modeChannelCombo.baseline
+                    text:               "Flight mode channel:"
+                }
+
+                FactComboBox {
+                    id:                 modeChannelCombo
+                    anchors.leftMargin: _margins
+                    anchors.left:       modeChannelLabel.right
+                    width:              ScreenTools.defaultFontPixelWidth * 15
+                    fact:               controller.getParameterFact(-1, "RC_MAP_FLTMODE")
+                    indexModel:         false
+                }
+            }
+
+            Rectangle {
+                id:                 flightModeSettings
+                width:              flightModeColumn.width + (_margins * 2)
+                height:             flightModeColumn.height + ScreenTools.defaultFontPixelHeight
+                color:              qgcPal.windowShade
+
+                Column {
+                    id:                 flightModeColumn
+                    anchors.margins:    ScreenTools.defaultFontPixelWidth
+                    anchors.left:       parent.left
+                    anchors.top:        parent.top
+                    spacing:            ScreenTools.defaultFontPixelHeight
+
+                    Repeater {
+                        model:  6
+
+                        Row {
+                            spacing: ScreenTools.defaultFontPixelWidth
+
+                            property int index:         modelData + 1
+                            property var pwmStrings:    [ "PWM 0 - 1230", "PWM 1231 - 1360", "PWM 1361 - 1490", "PWM 1491 - 1620", "PWM 1621 - 1749", "PWM 1750 +"]
+
+
+                            QGCLabel {
+                                anchors.baseline:   modeCombo.baseline
+                                text:               "Flight Mode " + index + ":"
+                                color:              controller.activeFlightMode == index ? "yellow" : qgcPal.text
+                            }
+
+                            FactComboBox {
+                                id:         modeCombo
+                                width:      ScreenTools.defaultFontPixelWidth * 20
+                                fact:       controller.getParameterFact(-1, "COM_FLTMODE" + index)
+                                indexModel: false
+                            }
+
+                            QGCLabel {
+                                anchors.baseline:   modeCombo.baseline
+                                text:               pwmStrings[modelData]
+                            }
+                        }
+                    } // Repeater - Flight Modes
+                } // Column - Flight Modes
+            } // Rectangle - Flight Modes
+
+            QGCButton {
+                text:           "Use Advanced Flight Modes"
+                onClicked: {
+                    controller.getParameterFact(-1, "RC_MAP_MODE_SW").value = 5
+                    controller.getParameterFact(-1, "RC_MAP_FLTMODE").value = 0
+                }
+            }
+        } // Column
+    } // QGCFlickable
+} // QGCView

src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#include "PX4SimpleFlightModesController.h"
+#include "QGCMAVLink.h"
+#include "AutoPilotPluginManager.h"
+
+#include <QVariant>
+#include <QQmlProperty>
+
+PX4SimpleFlightModesController::PX4SimpleFlightModesController(void)
+    : _activeFlightMode(0)
+    , _channelCount(Vehicle::cMaxRcChannels)
+
+{
+    QStringList usedParams;
+    usedParams << QStringLiteral("COM_FLTMODE1") << QStringLiteral("COM_FLTMODE2") << QStringLiteral("COM_FLTMODE3")
+               << QStringLiteral("COM_FLTMODE4") << QStringLiteral("COM_FLTMODE5") << QStringLiteral("COM_FLTMODE6")
+               << QStringLiteral("RC_MAP_FLTMODE");
+    if (!_allParametersExists(FactSystem::defaultComponentId, usedParams)) {
+        return;
+    }
+
+    connect(_vehicle, &Vehicle::rcChannelsChanged, this, &PX4SimpleFlightModesController::_rcChannelsChanged);
+}
+
+/// Connected to Vehicle::rcChannelsChanged signal
+void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
+{
+    int flightModeChannel = getParameterFact(-1, "RC_MAP_FLTMODE")->rawValue().toInt() - 1;
+
+    if (flightModeChannel < 0 || flightModeChannel > channelCount) {
+        return;
+    }
+
+    _activeFlightMode = 0;
+    int channelValue = pwmValues[flightModeChannel];
+    if (channelValue != -1) {
+        bool found = false;
+        int rgThreshold[] = { 1230, 1360, 1490, 1620, 1749 };
+        for (int i=0; i<5; i++) {
+            if (channelValue <= rgThreshold[i]) {
+                _activeFlightMode = i + 1;
+                found = true;
+                break;
+            }
+        }
+        if (!found) {
+            _activeFlightMode = 6;
+        }
+    }
+    emit activeFlightModeChanged(_activeFlightMode);
+}

src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef PX4SimpleFlightModesController_H
+#define PX4SimpleFlightModesController_H
+
+#include <QObject>
+#include <QQuickItem>
+#include <QList>
+#include <QStringList>
+
+#include "UASInterface.h"
+#include "AutoPilotPlugin.h"
+#include "FactPanelController.h"
+#include "Vehicle.h"
+
+/// MVC Controller for PX4SimpleFlightModes.qml
+class PX4SimpleFlightModesController : public FactPanelController
+{
+    Q_OBJECT
+    
+public:
+    PX4SimpleFlightModesController(void);
+    
+    Q_PROPERTY(int      activeFlightMode            READ activeFlightMode       NOTIFY activeFlightModeChanged)
+    Q_PROPERTY(int      channelCount                MEMBER _channelCount        CONSTANT)
+
+    int activeFlightMode(void) const { return _activeFlightMode; }
+
+signals:
+    void activeFlightModeChanged(int activeFlightMode);
+    void channelOptionEnabledChanged(void);
+    
+private slots:
+    void _rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels]);
+    
+private:
+    int             _activeFlightMode;
+    int             _channelCount;
+};
+
+#endif

src/FactSystem/ParameterLoader.cc

@@ -44,7 +44,7 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
 
 Fact ParameterLoader::_defaultFact;
 
-const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParamaterFactMetaData";
+const char* ParameterLoader::_cachedMetaDataFilePrefix = "ParameterFactMetaData";
 
 ParameterLoader::ParameterLoader(Vehicle* vehicle)
     : QObject(vehicle)

src/QGCApplication.cc

@@ -61,7 +61,8 @@
 #include "ViewWidgetController.h"
 #include "ParameterEditorController.h"
 #include "CustomCommandWidgetController.h"
-#include "FlightModesComponentController.h"
+#include "PX4AdvancedFlightModesController.h"
+#include "PX4SimpleFlightModesController.h"
 #include "APMFlightModesComponentController.h"
 #include "AirframeComponentController.h"
 #include "SensorsComponentController.h"
@@ -434,7 +435,8 @@ void QGCApplication::_initCommon(void)
 
     qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
-    qmlRegisterType<FlightModesComponentController>     ("QGroundControl.Controllers", 1, 0, "FlightModesComponentController");
+    qmlRegisterType<PX4AdvancedFlightModesController>   ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
+    qmlRegisterType<PX4SimpleFlightModesController>     ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
     qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
     qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
     qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");

src/VehicleSetup/VehicleComponent.cc

@@ -62,8 +62,10 @@ void VehicleComponent::setupTriggerSignals(void)
 {
     // Watch for changed on trigger list params
     foreach (const QString &paramName, setupCompleteChangedTriggerList()) {
-        Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
-        connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
+        if (_autopilot->parameterExists(FactSystem::defaultComponentId, paramName)) {
+            Fact* fact = _autopilot->getParameterFact(FactSystem::defaultComponentId, paramName);
+            connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
+        }
     }
 }