More works towards removing UAS completely

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -27,8 +27,8 @@
 #include "APMAirframeComponent.h"
 #include "QGCQmlWidgetHolder.h"
 
-APMAirframeComponent::APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    APMComponent(uas, autopilot, parent),
+APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
     _name(tr("Airframe"))
 {
 

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -31,7 +31,7 @@ class APMAirframeComponent : public APMComponent
     Q_OBJECT
     
 public:
-    APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from APMComponent
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -48,7 +48,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
 
         if (parametersReady()) {
-            _airframeComponent = new APMAirframeComponent(_vehicle->uas(), this);
+            _airframeComponent = new APMAirframeComponent(_vehicle, this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));

src/AutoPilotPlugins/APM/APMComponent.cc

@@ -28,10 +28,10 @@
 #include "Fact.h"
 #include "AutoPilotPlugin.h"
 
-APMComponent::APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(uas, autopilot, parent)
+APMComponent::APMComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/AutoPilotPlugins/APM/APMComponent.h

@@ -37,7 +37,7 @@ class APMComponent : public VehicleComponent
     Q_OBJECT
     
 public:
-    APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    APMComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL.

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -170,7 +170,7 @@ const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-    _vehicle->getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
+    _vehicle->getParameterLoader()->writeParametersToStream(stream);
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -68,8 +68,8 @@ static const struct mavType mavTypeInfo[] = {
 static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
 #endif
 
-AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Airframe"))
 {
 #if 0

src/AutoPilotPlugins/PX4/AirframeComponent.h

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

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,8 +43,8 @@ static const SwitchListItem switchList[] = {
 };
 static const size_t cSwitchList = sizeof(switchList) / sizeof(switchList[0]);
 
-FlightModesComponent::FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+FlightModesComponent::FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Flight Modes"))
 {
 }

src/AutoPilotPlugins/PX4/FlightModesComponent.h

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

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -66,7 +66,7 @@ FlightModesComponentController::~FlightModesComponentController()
 void FlightModesComponentController::_init(void)
 {
     // FIXME: What about VTOL? That confuses the whole Flight Mode naming scheme
-    _fixedWing = _uas->getSystemType() == MAV_TYPE_FIXED_WING;
+    _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
     
     // We need to know min and max for channel in order to calculate percentage range
     for (int channel=0; channel<_chanMax; channel++) {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -94,32 +94,32 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
         
         if (parametersReady()) {
-            _airframeComponent = new AirframeComponent(_vehicle->uas(), this);
+            _airframeComponent = new AirframeComponent(_vehicle, this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
-            _radioComponent = new RadioComponent(_vehicle->uas(), this);
+            _radioComponent = new RadioComponent(_vehicle, this);
             Q_CHECK_PTR(_radioComponent);
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
             
-            _flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
+            _flightModesComponent = new FlightModesComponent(_vehicle, this);
             Q_CHECK_PTR(_flightModesComponent);
             _flightModesComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
             
-            _sensorsComponent = new SensorsComponent(_vehicle->uas(), this);
+            _sensorsComponent = new SensorsComponent(_vehicle, this);
             Q_CHECK_PTR(_sensorsComponent);
             _sensorsComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
             
-            _powerComponent = new PowerComponent(_vehicle->uas(), this);
+            _powerComponent = new PowerComponent(_vehicle, this);
             Q_CHECK_PTR(_powerComponent);
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
             
-            _safetyComponent = new SafetyComponent(_vehicle->uas(), this);
+            _safetyComponent = new SafetyComponent(_vehicle, this);
             Q_CHECK_PTR(_safetyComponent);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -28,10 +28,10 @@
 #include "Fact.h"
 #include "AutoPilotPlugin.h"
 
-PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(uas, autopilot, parent)
+PX4Component::PX4Component(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/AutoPilotPlugins/PX4/PX4Component.h

@@ -37,7 +37,7 @@ class PX4Component : public VehicleComponent
     Q_OBJECT
     
 public:
-    PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    PX4Component(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL.

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-PowerComponent::PowerComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+PowerComponent::PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Power"))
 {
 }

src/AutoPilotPlugins/PX4/PowerComponent.h

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

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+RadioComponent::RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Radio"))
 {
 }

src/AutoPilotPlugins/PX4/RadioComponent.h

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

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-SafetyComponent::SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+SafetyComponent::SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Safety"))
 {
 }

src/AutoPilotPlugins/PX4/SafetyComponent.h

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

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -31,8 +31,8 @@
 
 // These two list must be kept in sync
 
-SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Sensors"))
 {
 
@@ -87,11 +87,15 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
     QStringList triggers;
     
     triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID";
-    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR) {
-        triggers << "SENS_DPRES_OFF";
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            triggers << "SENS_DPRES_OFF";
+            break;
+        default:
+            break;
     }
     
     return triggers;
@@ -115,13 +119,16 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 {
     QString summaryQml;
     
-    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR) {
-        summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
-    } else {
-        summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
+            break;
+        default:
+            summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
+            break;
     }
     
     return QUrl::fromUserInput(summaryQml);

src/AutoPilotPlugins/PX4/SensorsComponent.h

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

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -445,12 +445,15 @@ void SensorsComponentController::_refreshParams(void)
 
 bool SensorsComponentController::fixedWing(void)
 {
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    return uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-            uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-            uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-            uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR;
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            return true;
+        default:
+            return false;
+    }
 }
 
 void SensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)

src/FactSystem/ParameterLoader.cc

@@ -708,9 +708,9 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
     return errors;
 }
 
-void ParameterLoader::writeParametersToStream(QTextStream &stream, const QString& name)
+void ParameterLoader::writeParametersToStream(QTextStream &stream)
 {
-    stream << "# Onboard parameters for system " << name << "\n";
+    stream << "# Onboard parameters for vehicle " << _vehicle->id() << "\n";
     stream << "#\n";
     stream << "# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)\n";
 

src/FactSystem/ParameterLoader.h

@@ -85,7 +85,7 @@ public:
     /// Returns error messages from loading
     QString readParametersFromStream(QTextStream& stream);
     
-    void writeParametersToStream(QTextStream &stream, const QString& name);
+    void writeParametersToStream(QTextStream &stream);
     
 signals:
     /// Signalled when the full set of facts are ready

src/Vehicle/Vehicle.cc

@@ -90,8 +90,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _batteryPercent(0.0)
     , _batteryConsumed(-1.0)
     , _currentHeartbeatTimeout(0)
-    , _waypointDistance(0.0)
-    , _currentWaypoint(0)
     , _satelliteCount(-1)
     , _satelliteLock(0)
     , _updateCount(0)
@@ -154,15 +152,12 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
     connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
     connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
-    connect(_mav, &UASInterface::nameChanged,                       this, &Vehicle::_updateName);
-    connect(_mav, &UASInterface::systemTypeSet,                     this, &Vehicle::_setSystemType);
     connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
     UAS* pUas = dynamic_cast<UAS*>(_mav);
     if(pUas) {
         _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
         connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
     }
-    _setSystemType(_mav, _mav->getSystemType());
     
     _loadSettings();
     
@@ -188,8 +183,6 @@ Vehicle::Vehicle(LinkInterface*             link,
 
 Vehicle::~Vehicle()
 {
-    qDebug() << "~Vehicle";
-
     delete _missionManager;
     _missionManager = NULL;
 
@@ -519,12 +512,6 @@ void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, f
  * Internal
  */
 
-bool Vehicle::_isAirplane() {
-    if (_mav)
-        return _mav->isAirplane();
-    return false;
-}
-
 void Vehicle::_addChange(int id)
 {
     if(!_changes.contains(id)) {
@@ -639,86 +626,6 @@ void Vehicle::_updateState(UASInterface*, QString name, QString)
     }
 }
 
-void Vehicle::_updateName(const QString& name)
-{
-    if (_systemName != name) {
-        _systemName = name;
-        emit systemNameChanged();
-    }
-}
-
-/**
- * The current system type is represented through the system icon.
- *
- * @param uas Source system, has to be the same as this->uas
- * @param systemType type ID, following the MAVLink system type conventions
- * @see http://pixhawk.ethz.ch/software/mavlink
- */
-void Vehicle::_setSystemType(UASInterface*, unsigned int systemType)
-{
-    _systemPixmap = "qrc:/res/mavs/";
-    switch (systemType) {
-        case MAV_TYPE_GENERIC:
-            _systemPixmap += "Generic";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            _systemPixmap += "FixedWing";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            _systemPixmap += "QuadRotor";
-            break;
-        case MAV_TYPE_COAXIAL:
-            _systemPixmap += "Coaxial";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            _systemPixmap += "Helicopter";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            _systemPixmap += "AntennaTracker";
-            break;
-        case MAV_TYPE_GCS:
-            _systemPixmap += "Groundstation";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            _systemPixmap += "Airship";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            _systemPixmap += "FreeBalloon";
-            break;
-        case MAV_TYPE_ROCKET:
-            _systemPixmap += "Rocket";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            _systemPixmap += "GroundRover";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            _systemPixmap += "SurfaceBoat";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            _systemPixmap += "Submarine";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            _systemPixmap += "HexaRotor";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            _systemPixmap += "OctoRotor";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            _systemPixmap += "TriCopter";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            _systemPixmap += "FlappingWing";
-            break;
-        case MAV_TYPE_KITE:
-            _systemPixmap += "Kite";
-            break;
-        default:
-            _systemPixmap += "Unknown";
-            break;
-    }
-    emit systemPixmapChanged();
-}
-
 void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
 {
     unsigned int elapsed = ms;
@@ -756,39 +663,6 @@ void Vehicle::_setSatLoc(UASInterface*, int fix)
     }
 }
 
-void Vehicle::_updateWaypointDistance(double distance)
-{
-    if (_waypointDistance != distance) {
-        _waypointDistance = distance;
-        emit waypointDistanceChanged();
-    }
-}
-
-void Vehicle::_updateCurrentWaypoint(quint16 id)
-{
-    if (_currentWaypoint != id) {
-        _currentWaypoint = id;
-        emit currentWaypointChanged();
-    }
-}
-
-void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
-{
-    /*
-     bool changed = false;
-     for(int i = 0; i < _waypoints.count(); i++) {
-     if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) {
-     _waypoints[i] = *wp;
-     changed = true;
-     break;
-     }
-     }
-     if(changed) {
-     emit waypointListChanged();
-     }
-     */
-}
-
 void Vehicle::_handleTextMessage(int newCount)
 {
     // Reset?

src/VehicleSetup/VehicleComponent.cc

@@ -27,12 +27,12 @@
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
 
-VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     QObject(parent),
-    _uas(uas),
+    _vehicle(vehicle),
     _autopilot(autopilot)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/VehicleSetup/VehicleComponent.h

@@ -31,7 +31,7 @@
 #include <QQmlContext>
 #include <QQuickItem>
 
-#include "UASInterface.h"
+#include "Vehicle.h"
 
 class AutoPilotPlugin;
 
@@ -53,7 +53,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
     
 public:
-    VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     ~VehicleComponent();
     
     virtual QString name(void) const = 0;
@@ -73,8 +73,8 @@ signals:
     void setupCompleteChanged(bool setupComplete);
     
 protected:
-    UASInterface*                   _uas;
-    AutoPilotPlugin*                _autopilot;
+    Vehicle*            _vehicle;
+    AutoPilotPlugin*    _autopilot;
 };
 
 #endif

src/comm/QGCFlightGearLink.cc

@@ -47,28 +47,30 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMessageBox.h"
 #include "HomePositionManager.h"
 #include "QGCApplication.h"
+#include "Vehicle.h"
+#include "UAS.h"
 
 // FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
 // for tracking down problems.
 //#define DEBUG_FLIGHTGEAR_CONNECT
 
-QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
-    flightGearVersion(3),
-    startupArguments(startupArguments),
-    _sensorHilEnabled(true),
-    barometerOffsetkPa(0.0f),
-    _udpCommSocket(NULL),
-    _fgProcess(NULL)
+QGCFlightGearLink::QGCFlightGearLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
+    : _vehicle(vehicle)
+    , _udpCommSocket(NULL)
+    , _fgProcess(NULL)
+    , flightGearVersion(3)
+    , startupArguments(startupArguments)
+    , _sensorHilEnabled(true)
+    , barometerOffsetkPa(0.0f)
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
     moveToThread(this);
 
     this->host = host;
-    this->port = port+mav->getUASID();
+    this->port = port + _vehicle->id();
     this->connectState = false;
-    this->currentPort = 49000+mav->getUASID();
-    this->mav = mav;
+    this->currentPort = 49000 + _vehicle->id();
     this->name = tr("FlightGear 3.0+ Link (port:%1)").arg(port);
     setRemoteHost(remoteHost);
     
@@ -88,7 +90,7 @@ QGCFlightGearLink::~QGCFlightGearLink()
 /// @brief Runs the simulation thread. We do setup work here which needs to happen in the seperate thread.
 void QGCFlightGearLink::run()
 {
-    Q_ASSERT(mav);
+    Q_ASSERT(_vehicle);
     Q_ASSERT(!_fgProcessName.isEmpty());
         
     // We communicate with FlightGear over a UDP _udpCommSocket
@@ -100,16 +102,16 @@ void QGCFlightGearLink::run()
     
     
     // Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
-    connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
+    connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
             this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
     connect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)),
-            mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
+            _vehicle->uas(), SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
     connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)),
-            mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
+            _vehicle->uas(), SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
     connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)),
-            mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+            _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
     connect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
-            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
+            _vehicle->uas(), SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
     
     // Start a new QProcess to run FlightGear in
     _fgProcess = new QProcess(this);
@@ -430,7 +432,7 @@ void QGCFlightGearLink::readBytes()
         zmag_body = mag_body(2);
 
         emit sensorHilRawImuChanged(QGC::groundTimeUsecs(), xacc, yacc, zacc, rollspeed, pitchspeed, yawspeed,
-                                    xmag_body, ymag_body, zmag_body, abs_pressure*1e-2f, diff_pressure*1e-2f, pressure_alt, temperature, fields_changed); //Pressure in hPa for mavlink
+                                    xmag_body, ymag_body, zmag_body, abs_pressure*1e-2f, diff_pressure*1e-2f, pressure_alt, temperature, fields_changed); //Pressure in hPa for _vehicle->uas()link
 
 //        qDebug()  << "sensorHilRawImuChanged " << xacc  << yacc << zacc  << rollspeed << pitchspeed << yawspeed << xmag << ymag << zmag << abs_pressure << diff_pressure << pressure_alt << temperature;
         int gps_fix_type = 3;
@@ -491,12 +493,12 @@ bool QGCFlightGearLink::disconnectSimulation()
 {
     disconnect(_fgProcess, SIGNAL(error(QProcess::ProcessError)),
                this, SLOT(processError(QProcess::ProcessError)));
-    disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-    disconnect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
-    disconnect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
-    disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+    disconnect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+    disconnect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), _vehicle->uas(), SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
+    disconnect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), _vehicle->uas(), SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
+    disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
     disconnect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
-            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
+            _vehicle->uas(), SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
 
     if (_fgProcess)
     {
@@ -629,7 +631,7 @@ bool QGCFlightGearLink::connectSimulation()
     // have that information setup we start the thread which will call run, which will in turn
     // start the various FG processes on the seperate thread.