Merge pull request #1392 from DonLakeFlyer/DisconnectReally

Disconnect really

qgroundcontrol.qrc

@@ -264,7 +264,8 @@
         <file alias="QGroundControl/Controls/arrow-down.png">src/QmlControls/arrow-down.png</file>
         <file alias="octo_x.png">files/images/px4/airframes/octo_x.png</file>
         <file alias="px4fmu_2.x.png">files/images/px4/boards/px4fmu_2.x.png</file>
-        <file alias="SetupViewButtons.qml">src/VehicleSetup/SetupViewButtons.qml</file>
+        <file alias="SetupViewButtonsConnected.qml">src/VehicleSetup/SetupViewButtonsConnected.qml</file>
+        <file alias="SetupViewButtonsDisconnected.qml">src/VehicleSetup/SetupViewButtonsDisconnected.qml</file>
         <file alias="VehicleSummary.qml">src/VehicleSetup/VehicleSummary.qml</file>
         <file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -28,7 +28,8 @@
 
 AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
     QObject(parent),
-    _uas(uas)
+    _uas(uas),
+    _pluginReady(false)
 {
     Q_ASSERT(_uas);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -50,6 +50,8 @@ class AutoPilotPlugin : public QObject
 public:
     AutoPilotPlugin(UASInterface* uas, QObject* parent);
     
+    Q_PROPERTY(bool pluginReady READ pluginReady NOTIFY pluginReadyChanged)
+    
     Q_PROPERTY(QVariantList components READ components CONSTANT)
     Q_PROPERTY(QUrl setupBackgroundImage READ setupBackgroundImage CONSTANT)
     
@@ -71,23 +73,23 @@ public:
     virtual const QVariantMap& parameters(void) = 0;    
     virtual QUrl setupBackgroundImage(void) = 0;
     
-    /// Returns true if the plugin is ready for use
-    virtual bool pluginIsReady(void) const = 0;
-    
     /// FIXME: Kind of hacky
     static void clearStaticData(void);
     
     UASInterface* uas(void) { return _uas; }
     
+    bool pluginReady(void) { return _pluginReady; }
+    
 signals:
     /// Signalled when plugin is ready for use
-    void pluginReady(void);
+    void pluginReadyChanged(bool pluginReady);
     
 protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
     AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
     
-    UASInterface* _uas;
+    UASInterface*   _uas;
+    bool            _pluginReady;
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -34,8 +34,7 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* paren
     _parameterFacts = new GenericParameterFacts(uas, this);
     Q_CHECK_PTR(_parameterFacts);
     
-    connect(_parameterFacts, &GenericParameterFacts::factsReady, this, &GenericAutoPilotPlugin::pluginReady);
-
+    connect(_parameterFacts, &GenericParameterFacts::factsReady, this, &GenericAutoPilotPlugin::_factsReady);
 }
 
 QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
@@ -104,3 +103,9 @@ QUrl GenericAutoPilotPlugin::setupBackgroundImage(void)
 {
     return QUrl::fromUserInput("qrc:/qml/px4fmu_2.x.png");
 }
+
+void GenericAutoPilotPlugin::_factsReady(void)
+{
+    _pluginReady = true;
+    emit pluginReadyChanged(_pluginReady);
+}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -41,7 +41,6 @@ public:
     GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual bool pluginIsReady(void) const { return _parameterFacts->factsAreReady(); }
     virtual QUrl setupBackgroundImage(void);
     virtual const QVariantList& components(void);
     virtual const QVariantMap& parameters(void);
@@ -50,6 +49,9 @@ public:
     static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
     static void clearStaticData(void);
     
+private slots:
+    void _factsReady(void);
+    
 private:
     GenericParameterFacts*  _parameterFacts;
 };

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -44,7 +44,7 @@ FlightModesComponentController::FlightModesComponentController(QObject* parent)
     
     _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
     Q_ASSERT(_autoPilotPlugin);
-    Q_ASSERT(_autoPilotPlugin->pluginIsReady());
+    Q_ASSERT(_autoPilotPlugin->pluginReady());
 
     _initRcValues();
     _validateConfiguration();

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -189,11 +189,6 @@ void PX4AutoPilotPlugin::clearStaticData(void)
     PX4ParameterFacts::clearStaticData();
 }
 
-bool PX4AutoPilotPlugin::pluginIsReady(void) const
-{
-    return _parameterFacts->factsAreReady();
-}
-
 const QVariantList& PX4AutoPilotPlugin::components(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {
@@ -261,5 +256,6 @@ void PX4AutoPilotPlugin::_pluginReadyPreChecks(void)
         }
     }
     
-    emit pluginReady();
+    _pluginReady = true;
+    emit pluginReadyChanged(_pluginReady);
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -50,7 +50,6 @@ public:
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin
-    virtual bool pluginIsReady(void) const;
     virtual const QVariantList& components(void);
     virtual const QVariantMap& parameters(void);
     virtual QUrl setupBackgroundImage(void);

src/FactSystem/FactBinder.cc

@@ -38,7 +38,7 @@ FactBinder::FactBinder(void) :
     
     _autopilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas);
     Q_ASSERT(_autopilotPlugin);
-    Q_ASSERT(_autopilotPlugin->pluginIsReady());
+    Q_ASSERT(_autopilotPlugin->pluginReady());
 }
 
 QString FactBinder::name(void) const

src/FactSystem/FactSystemTestBase.cc

@@ -72,11 +72,11 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
 
     // Wait for the plugin to be ready
     
-    QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReady()));
-    if (!_plugin->pluginIsReady()) {
+    QSignalSpy spyPlugin(_plugin, SIGNAL(pluginReadyChanged(bool)));
+    if (!_plugin->pluginReady()) {
         QCOMPARE(spyPlugin.wait(5000), true);
     }
-    Q_ASSERT(_plugin->pluginIsReady());
+    Q_ASSERT(_plugin->pluginReady());
 }
 
 void FactSystemTestBase::_cleanup(void)

src/VehicleSetup/SetupView.cc

@@ -54,12 +54,11 @@ SetupView::SetupView(QWidget* parent) :
     Q_UNUSED(fSucceeded);
     Q_ASSERT(fSucceeded);
     
-    _ui->buttonHolder->setAutoPilot(NULL);
-    _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtons.qml"));
+    qmlRegisterType<FirmwareUpgradeController>("QGroundControl.FirmwareUpgradeController", 1, 0, "FirmwareUpgradeController");
     
     _ui->buttonHolder->rootContext()->setContextProperty("controller", this);
-    
-    qmlRegisterType<FirmwareUpgradeController>("QGroundControl.FirmwareUpgradeController", 1, 0, "FirmwareUpgradeController");
+    _ui->buttonHolder->setAutoPilot(NULL);
+    _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml"));
     
     _setActiveUAS(UASManager::instance()->getActiveUAS());
 }
@@ -73,35 +72,37 @@ void SetupView::_setActiveUAS(UASInterface* uas)
 {
     if (_uasCurrent) {
         Q_ASSERT(_autoPilotPlugin);
-        disconnect(_autoPilotPlugin, &AutoPilotPlugin::pluginReady, this, &SetupView::_pluginReady);
+        disconnect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
     }
 
-    _autoPilotPlugin = NULL;
-    _ui->buttonHolder->setAutoPilot(NULL);
-    firmwareButtonClicked();
-    QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("firmwareButton");
-    Q_ASSERT(button);
-    button->setProperty("checked", true);
+    _pluginReadyChanged(false);
     
     _uasCurrent = uas;
     
     if (_uasCurrent) {
         _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent);
-        
-        connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReady, this, &SetupView::_pluginReady);
-        if (_autoPilotPlugin->pluginIsReady()) {
-            _pluginReady();
-        }
+        _pluginReadyChanged(_autoPilotPlugin->pluginReady());
+        connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
     }
 }
 
-void SetupView::_pluginReady(void)
+void SetupView::_pluginReadyChanged(bool pluginReady)
 {
-    _ui->buttonHolder->setAutoPilot(_autoPilotPlugin);
-    summaryButtonClicked();
-    QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("summaryButton");
-    Q_ASSERT(button);
-    button->setProperty("checked", true);
+    if (pluginReady) {
+        _ui->buttonHolder->setAutoPilot(_autoPilotPlugin);
+        _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsConnected.qml"));
+        summaryButtonClicked();
+        QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("summaryButton");
+        Q_ASSERT(button);
+        button->setProperty("checked", true);
+    } else {
+        _ui->buttonHolder->setSource(QUrl::fromUserInput("qrc:/qml/SetupViewButtonsDisconnected.qml"));
+        _ui->buttonHolder->setAutoPilot(NULL);
+        firmwareButtonClicked();
+        QObject* button = _ui->buttonHolder->rootObject()->findChild<QObject*>("firmwareButton");
+        Q_ASSERT(button);
+        button->setProperty("checked", true);
+    }
 }
 
 void SetupView::_changeSetupWidget(QWidget* newWidget)

src/VehicleSetup/SetupView.h

@@ -54,7 +54,7 @@ public:
     
 private slots:
     void _setActiveUAS(UASInterface* uas);
-    void _pluginReady(void);
+    void _pluginReadyChanged(bool pluginReady);
 
 private:
     void _changeSetupWidget(QWidget* newWidget);

src/VehicleSetup/SetupViewButtons.qml

-import QtQuick 2.3
-import QtQuick.Controls 1.2
-import QtQuick.Controls.Styles 1.2
-import QtGraphicalEffects 1.0
-
-import QGroundControl.FactSystem 1.0
-import QGroundControl.Palette 1.0
-import QGroundControl.Controls 1.0
-
-Rectangle {
-    id: topLevel
-
-    QGCPalette { id: palette; colorGroupEnabled: true }
-    color: palette.window
-
-    ExclusiveGroup { id: setupButtonGroup }
-
-    Component {
-        id: disconnectedButtons
-
-        Column {
-            anchors.fill: parent
-
-            SubMenuButton {
-                id: firmwareButton; objectName: "firmwareButton"
-                width: parent.width
-                text: "FIRMWARE"
-                imageResource: "FirmwareUpgradeIcon.png"
-                setupIndicator: false
-                exclusiveGroup: setupButtonGroup
-                onClicked: controller.firmwareButtonClicked()
-            }
-
-            Item { width: parent.width; height: 10 }    // spacer
-
-            QGCLabel {
-                width: parent.width
-                text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading."
-                wrapMode: Text.WordWrap
-                horizontalAlignment: Text.AlignHCenter
-            }
-        }
-    }
-
-    Component {
-        id: connectedButtons
-
-        Column {
-            anchors.fill: parent
-
-            SubMenuButton {
-                id: summaryButton; objectName: "summaryButton"
-                width: parent.width
-                text: "SUMMARY"
-                imageResource: "VehicleSummaryIcon.png"
-                setupIndicator: false
-                exclusiveGroup: setupButtonGroup
-                onClicked: controller.summaryButtonClicked()
-            }
-
-            SubMenuButton {
-                id: firmwareButton; objectName: "firmwareButton"
-                width: parent.width
-                text: "FIRMWARE"
-                imageResource: "FirmwareUpgradeIcon.png"
-                setupIndicator: false
-                exclusiveGroup: setupButtonGroup
-                onClicked: controller.firmwareButtonClicked()
-            }
-
-            Repeater {
-                model: autopilot.components
-
-                SubMenuButton {
-                    width: parent.width
-                    text: modelData.name.toUpperCase()
-                    imageResource: modelData.iconResource
-                    setupComplete: modelData.setupComplete
-                    exclusiveGroup: setupButtonGroup
-                    onClicked: controller.setupButtonClicked(modelData)
-                }
-            }
-
-            SubMenuButton {
-                width: parent.width
-                text: "PARAMETERS"
-                setupIndicator: false
-                exclusiveGroup: setupButtonGroup
-                onClicked: controller.parametersButtonClicked()
-            }
-        }
-    }
-
-
-    Loader {
-        anchors.fill: parent
-        sourceComponent: autopilot ? connectedButtons : disconnectedButtons
-    }
-}

src/VehicleSetup/SetupViewButtonsConnected.qml

+import QtQuick 2.3
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QtGraphicalEffects 1.0
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+
+Rectangle {
+    id: topLevel
+
+    QGCPalette { id: palette; colorGroupEnabled: true }
+    color: palette.window
+
+    ExclusiveGroup { id: setupButtonGroup }
+
+    Column {
+        anchors.fill: parent
+
+        SubMenuButton {
+            id: summaryButton; objectName: "summaryButton"
+            width: parent.width
+            text: "SUMMARY"
+            imageResource: "VehicleSummaryIcon.png"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            onClicked: controller.summaryButtonClicked()
+        }
+
+        SubMenuButton {
+            id: firmwareButton; objectName: "firmwareButton"
+            width: parent.width
+            text: "FIRMWARE"
+            imageResource: "FirmwareUpgradeIcon.png"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            onClicked: controller.firmwareButtonClicked()
+        }
+
+        Repeater {
+            model: autopilot ? autopilot.components : 0
+
+            SubMenuButton {
+                width: parent.width
+                text: modelData.name.toUpperCase()
+                imageResource: modelData.iconResource
+                setupComplete: modelData.setupComplete
+                exclusiveGroup: setupButtonGroup
+                onClicked: controller.setupButtonClicked(modelData)
+            }
+        }
+
+        SubMenuButton {
+            width: parent.width
+            text: "PARAMETERS"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            onClicked: controller.parametersButtonClicked()
+        }
+    }
+}

src/VehicleSetup/SetupViewButtonsDisconnected.qml

+import QtQuick 2.3
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QtGraphicalEffects 1.0
+
+import QGroundControl.FactSystem 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+
+Rectangle {
+    id: topLevel
+
+    QGCPalette { id: palette; colorGroupEnabled: true }
+    color: palette.window
+
+    ExclusiveGroup { id: setupButtonGroup }
+
+    Column {
+        anchors.fill: parent
+
+        SubMenuButton {
+            id: firmwareButton; objectName: "firmwareButton"
+            width: parent.width
+            text: "FIRMWARE"
+            imageResource: "FirmwareUpgradeIcon.png"
+            setupIndicator: false
+            exclusiveGroup: setupButtonGroup
+            onClicked: controller.firmwareButtonClicked()
+        }
+
+        Item { width: parent.width; height: 10 }    // spacer
+
+        QGCLabel {
+            width: parent.width
+            text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading."
+            wrapMode: Text.WordWrap
+            horizontalAlignment: Text.AlignHCenter
+        }
+    }
+}

src/qgcunittest/MockUAS.h

@@ -83,7 +83,6 @@ public:
     virtual const QString& getShortMode() const { Q_ASSERT(false); return _bogusString; };
     virtual QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const { Q_UNUSED(base_mode); Q_UNUSED(custom_mode); Q_ASSERT(false); return _bogusStaticString; };
     virtual quint64 getUptime() const { Q_ASSERT(false); return 0; };
-    virtual int getCommunicationStatus() const { Q_ASSERT(false); return 0; };
     virtual double getLocalX() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); };
     virtual double getLocalY() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); };
     virtual double getLocalZ() const { Q_ASSERT(false); return std::numeric_limits<double>::quiet_NaN(); };

src/qgcunittest/UASUnitTest.cc

@@ -71,12 +71,6 @@ void UASUnitTest::getUpTime_test()
     delete uas2;
 }
 
-void UASUnitTest::getCommunicationStatus_test()
-{
-    // Verify that upon construction the Comm status is disconnected
-    QCOMPARE(_uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
-}
-
 void UASUnitTest::filterVoltage_test()
 {
     float verificar=_uas->filterVoltage(0.4f);

src/qgcunittest/UASUnitTest.h

@@ -27,7 +27,6 @@ private slots:
     void getUASID_test(void);
     void getUASName_test(void);
     void getUpTime_test(void);
-    void getCommunicationStatus_test(void);
     void filterVoltage_test(void);
     void getAutopilotType_test(void);
     void setAutopilotType_test(void);

src/uas/UAS.cc

@@ -50,7 +50,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     uasId(id),
     unknownPackets(),
     mavlink(protocol),
-    commStatus(COMM_DISCONNECTED),
     receiveDropRate(0),
     sendDropRate(0),
 
@@ -1911,11 +1910,6 @@ quint64 UAS::getUptime() const
     }
 }
 
-int UAS::getCommunicationStatus() const
-{
-    return commStatus;
-}
-
 void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;
@@ -3247,23 +3241,26 @@ void UAS::addLink(LinkInterface* link)
     {
         _links.append(LinkManager::instance()->sharedPointerForLink(link));
         qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
-        connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
+        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &UAS::_linkDisconnected);
     }
 }
 
-void UAS::removeLink(QObject* object)
+void UAS::_linkDisconnected(LinkInterface* link)
 {
-    qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
+    qCDebug(UASLog) << "_linkDisconnected:" << link->getName();
     qCDebug(UASLog) << "link count:" << _links.count();
 
-    LinkInterface* link = dynamic_cast<LinkInterface*>(object);
-
     for (int i=0; i<_links.count(); i++) {
         if (_links[i].data() == link) {
             _links.removeAt(i);
             break;
         }
     }
+    
+    if (_links.count() == 0) {
+        // Remove the UAS when all links to it close
+        UASManager::instance()->removeUAS(this);
+    }
 }
 
 /**

src/uas/UAS.h

@@ -87,8 +87,6 @@ public:
 
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
-    /** @brief Get the status flag for the communication */
-    int getCommunicationStatus() const;
     /** @brief Add one measurement and get low-passed voltage */
     float filterVoltage(float value) const;
     /** @brief Get the links associated with this robot */
@@ -348,7 +346,6 @@ protected: //COMMENTS FOR TEST UNIT
     
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
-    CommStatus commStatus;        ///< Communication status
     float receiveDropRate;        ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
     float sendDropRate;           ///< Percentage of packets that were not received from the MAV by the GCS
     quint64 lastHeartbeat;        ///< Time of the last heartbeat message
@@ -800,8 +797,6 @@ public slots:
 
     /** @brief Add a link associated with this robot */
     void addLink(LinkInterface* link);
-    /** @brief Remove a link associated with this robot */
-    void removeLink(QObject* object);
 
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
@@ -953,6 +948,9 @@ protected slots:
     /** @brief Read settings from disk */
     void readSettings();
     
+private slots:
+    void _linkDisconnected(LinkInterface* link);
+    
 private:
     bool _containsLink(LinkInterface* link);
 };

src/uas/UASInterface.h

@@ -108,8 +108,6 @@ public:
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
-    /** @brief Get the status flag for the communication **/
-    virtual int getCommunicationStatus() const = 0;
 
     virtual double getLocalX() const = 0;
     virtual double getLocalY() const = 0;
@@ -146,21 +144,6 @@ public:
     /** @brief Send a message over all links this UAS can be reached with (!= all links) */
     virtual void sendMessage(mavlink_message_t message) = 0;
 
-    /* COMMUNICATION FLAGS */
-
-    enum CommStatus {
-        /** Unit is disconnected, no failure state reached so far **/
-        COMM_DISCONNECTED = 0,
-        /** The communication is established **/
-        COMM_CONNECTING = 1,
-        /** The communication link is up **/
-        COMM_CONNECTED = 2,
-        /** The connection is closed **/
-        COMM_DISCONNECTING = 3,
-        COMM_FAIL = 4,
-        COMM_TIMEDOUT = 5///< Communication link failed
-    };
-
     enum Airframe {
         QGC_AIRFRAME_GENERIC = 0,
         QGC_AIRFRAME_EASYSTAR,
@@ -471,8 +454,6 @@ signals:
     void armingChanged(int sysId, QString armingState);
     /** @brief A command has been issued **/
     void commandSent(int command);
-    /** @brief The connection status has changed **/
-    void connectionChanged(CommStatus connectionFlag);
     /** @brief The robot is connecting **/
     void connecting();
     /** @brief The robot is connected **/

src/ui/DebugConsole.cc

@@ -181,7 +181,7 @@ void DebugConsole::addLink(LinkInterface* link)
 
     // Register for name changes
     connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)), Qt::UniqueConnection);
-    connect(LinkManager::instance(), &LinkManager::linkDeleted, this, &DebugConsole::removeLink, Qt::UniqueConnection);
+    connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &DebugConsole::removeLink, Qt::UniqueConnection);
 }
 
 void DebugConsole::removeLink(LinkInterface* const linkInterface)

src/ui/PrimaryFlightDisplay.cc

@@ -219,10 +219,11 @@ void PrimaryFlightDisplay::forgetUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64)));
+        disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
         disconnect(this->uas, &UASInterface::NavigationControllerDataChanged, this, &PrimaryFlightDisplay::UpdateNavigationControllerData);
     }
+    this->uas = NULL;
 }
 
 /**