Move UAS and MAVLinkProtocol back to main thread

Plus a large number of other changes to allow for orderly shutdown of
objects without crashes or asserts. This is need for unit tests to
create/delete global state around every test.

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef AUTOPILOTPLUGIN_H
 #define AUTOPILOTPLUGIN_H
 
@@ -33,12 +36,12 @@
 #include "VehicleComponent.h"
 #include "FactSystem.h"
 
-/// @file
-///     @brief The AutoPilotPlugin class is an abstract base class which represent the methods and objects
-///             which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
-///             code should reside in QGroundControl. The remainder of the QGroundControl source is
-///             generic to a common mavlink implementation.
-///     @author Don Gagne <don@thegagnes.com>
+/// This is the base class for AutoPilot plugins
+///
+/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
+/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
+/// code should reside in QGroundControl. The remainder of the QGroundControl source is
+/// generic to a common mavlink implementation.
 
 class AutoPilotPlugin : public QObject
 {
@@ -46,21 +49,28 @@ class AutoPilotPlugin : public QObject
 
 public:
     /// @brief Returns the list of VehicleComponent objects associated with the AutoPilot.
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const = 0;
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const = 0;
+    
+    /// Returns the parameter facts for the specified UAS.
+    ///
+    /// Access to parameter properties is done through QObject::property or the full
+    /// QMetaObject methods. The property name is the parameter name. You should not
+    /// request parameter facts until the plugin reports that it is ready.
+    virtual QObject* parameterFacts(void) const = 0;
     
-    typedef struct {
-        uint8_t baseMode;
-        uint32_t customMode;
-    } FullMode_t;
+    /// Adds the FactSystem properties to the Qml context. You should not call
+    /// this method until the plugin reports that it is ready.
+    virtual void addFactsToQmlContext(QQmlContext* context) const = 0;
     
-    /// @brief Returns the list of modes which are available for this AutoPilot.
-    virtual QList<FullMode_t> getModes(void) const = 0;
+    /// Returns true if the plugin is ready for use
+    virtual bool pluginIsReady(void) const = 0;
     
-    /// @brief Returns a human readable short description for the specified mode.
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const = 0;
+    /// FIXME: Kind of hacky
+    static void clearStaticData(void);
     
-    /// @brief Adds the FactSystem properties associated with this AutoPilot to the Qml context.
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const = 0;
+signals:
+    /// Signalled when plugin is ready for use
+    void pluginReady(void);
     
 protected:
     // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -28,29 +28,109 @@
 #include "PX4/PX4AutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 #include "QGCApplication.h"
+#include "UASManager.h"
 
 IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
     QGCSingleton(parent)
 {
-    // All plugins are constructed here so that they end up on the correct thread
-    _pluginMap[MAV_AUTOPILOT_PX4] = new PX4AutoPilotPlugin(this);
-    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
+    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, &UASManagerInterface::UASDeleted, this, &AutoPilotPluginManager::_uasDeleted);
+}
 
-    _pluginMap[MAV_AUTOPILOT_GENERIC] = new GenericAutoPilotPlugin(this);
-    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
+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] = plugin;
+            break;
+        case MAV_AUTOPILOT_GENERIC:
+        default:
+            plugin = new GenericAutoPilotPlugin(uas, this);
+            Q_CHECK_PTR(plugin);
+            _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = plugin;
+    }
+}
+
+/// Destroy the plugin associated with this uas
+void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
+{
+    Q_ASSERT(uas);
+    
+    MAV_AUTOPILOT autopilotType = 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));
+    delete _pluginMap[autopilotType][uasId];
+    _pluginMap[autopilotType].remove(uasId);
+}
+
+AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
+{
+    Q_ASSERT(uas);
+    
+    MAV_AUTOPILOT autopilotType = 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];
+}
+
+QList<AutoPilotPluginManager::FullMode_t> AutoPilotPluginManager::getModes(int autopilotType) const
+{
+    switch (autopilotType) {
+        case MAV_AUTOPILOT_PX4:
+            return PX4AutoPilotPlugin::getModes();
+        case MAV_AUTOPILOT_GENERIC:
+        default:
+            return GenericAutoPilotPlugin::getModes();
+    }
 }
 
-AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(int autopilotType)
+QString AutoPilotPluginManager::getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const
 {
     switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:
-            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
-            return _pluginMap[MAV_AUTOPILOT_PX4];
-            
+            return PX4AutoPilotPlugin::getShortModeText(baseMode, customMode);
+        case MAV_AUTOPILOT_GENERIC:
         default:
-            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
-            return _pluginMap[MAV_AUTOPILOT_GENERIC];
+            return GenericAutoPilotPlugin::getShortModeText(baseMode, customMode);
     }
 }

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef AUTOPILOTPLUGINMANAGER_H
 #define AUTOPILOTPLUGINMANAGER_H
 
@@ -32,11 +35,10 @@
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
 #include "QGCSingleton.h"
+#include "QGCMAVLink.h"
 
-/// @file
-///     @brief The AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
-///
-///     @author Don Gagne <don@thegagnes.com>
+
+/// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
 
 class AutoPilotPluginManager : public QGCSingleton
 {
@@ -45,15 +47,31 @@ class AutoPilotPluginManager : public QGCSingleton
     DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 public:
-    /// @brief Returns the singleton AutoPilot instance for the specified auto pilot type.
-    /// @param autopilotType Specified using the MAV_AUTOPILOT_* values.
-    AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType);
+    /// Returns the singleton AutoPilotPlugin instance for the specified uas.
+    ///     @param uas Uas to get plugin for
+    AutoPilotPlugin* getInstanceForAutoPilotPlugin(UASInterface* uas);
+    
+    typedef struct {
+        uint8_t baseMode;
+        uint32_t customMode;
+    } FullMode_t;
+
+    /// Returns the list of modes which are available for the specified autopilot type.
+    QList<FullMode_t> getModes(int autopilotType) const;
     
+    /// @brief Returns a human readable short description for the specified mode.
+    QString getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const;
+
+private slots:
+    void _uasCreated(UASInterface* uas);
+    void _uasDeleted(UASInterface* uas);
+
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     AutoPilotPluginManager(QObject* parent = NULL);
+    ~AutoPilotPluginManager();
     
-    QMap<int, AutoPilotPlugin*> _pluginMap;
+    QMap<MAV_AUTOPILOT, QMap<int, AutoPilotPlugin*> > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -26,24 +26,22 @@
 
 #include "GenericAutoPilotPlugin.h"
 
-GenericAutoPilotPlugin::GenericAutoPilotPlugin(QObject* parent) :
+GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
     AutoPilotPlugin(parent)
 {
-    
+    Q_UNUSED(uas);
 }
 
-QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
+QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(void) const
 {
-    Q_UNUSED(uas);
-    
     // Generic autopilot has no configurable components
     return QList<VehicleComponent*>();
 }
 
-QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
+QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
 {
-    QList<FullMode_t>       modeList;
-    FullMode_t              fullMode;
+    AutoPilotPluginManager::FullMode_t fullMode;
+    QList<AutoPilotPluginManager::FullMode_t> modeList;
 
     fullMode.customMode = 0;
     
@@ -62,7 +60,7 @@ QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
     return modeList;
 }
 
-QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
+QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     Q_UNUSED(customMode);
     
@@ -85,11 +83,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
     return mode;
 }
 
-void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
+void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
 {
     Q_UNUSED(context);
-    Q_UNUSED(uas);
     
     // Qml not yet supported for Generic
     Q_ASSERT(false);
 }
+
+QObject* GenericAutoPilotPlugin::parameterFacts(void) const
+{
+    return NULL;
+}
+
+void GenericAutoPilotPlugin::clearStaticData(void)
+{
+    // No Static data yet
+}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -25,6 +25,7 @@
 #define GENERICAUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 
 /// @file
 ///     @brief This is the generic implementation of the AutoPilotPlugin class for mavs
@@ -36,13 +37,17 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    GenericAutoPilotPlugin(QObject* parent = NULL);
+    GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
-    virtual QList<FullMode_t> getModes(void) const;
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
+    virtual void addFactsToQmlContext(QQmlContext* context) const;
+    virtual QObject* parameterFacts(void) const;
+    virtual bool pluginIsReady(void) const { return true; }
+
+    static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
+    static void clearStaticData(void);
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -65,59 +65,59 @@ union px4_custom_mode {
     float data_float;
 };
 
-PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) :
-    AutoPilotPlugin(parent)
+PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
+    AutoPilotPlugin(parent),
+    _uas(uas),
+    _parameterFacts(NULL)
 {
-    UASManagerInterface* uasMgr = UASManager::instance();
-    Q_ASSERT(uasMgr);
+    Q_ASSERT(uas);
+    
+    _parameterFacts = new PX4ParameterFacts(uas, this);
+    Q_CHECK_PTR(_parameterFacts);
     
-    // We need to track uas coming and going so that we can create PX4ParameterFacts instances for each uas
-    connect(uasMgr, &UASManagerInterface::UASCreated, this, &PX4AutoPilotPlugin::_uasCreated);
-    connect(uasMgr, &UASManagerInterface::UASDeleted, this, &PX4AutoPilotPlugin::_uasDeleted);
+    connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::pluginReady);
     
     PX4ParameterFacts::loadParameterFactMetaData();
 }
 
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
 {
+    delete _parameterFacts;
     PX4ParameterFacts::deleteParameterFactMetaData();
-    
-    foreach(UASInterface* uas, _mapUas2ParameterFacts.keys()) {
-        delete _mapUas2ParameterFacts[uas];
-    }
-    _mapUas2ParameterFacts.clear();
 }
 
-QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
+QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(void) const
 {
+    Q_ASSERT(_uas);
+    
     QList<VehicleComponent*> components;
     
     VehicleComponent* component;
     
-    component = new AirframeComponent(uas);
+    component = new AirframeComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new RadioComponent(uas);
+    component = new RadioComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new FlightModesComponent(uas);
+    component = new FlightModesComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new SensorsComponent(uas);
+    component = new SensorsComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
     return components;
 }
 
-QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
+QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
 {
-    QList<FullMode_t>       modeList;
-    FullMode_t              fullMode;
-    union px4_custom_mode   px4_cm;
+    union px4_custom_mode                       px4_cm;
+    AutoPilotPluginManager::FullMode_t          fullMode;
+    QList<AutoPilotPluginManager::FullMode_t>   modeList;
     
     px4_cm.data = 0;
     px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
@@ -152,7 +152,7 @@ QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
     return modeList;
 }
 
-QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
+QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     QString mode;
     
@@ -187,51 +187,40 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
             mode = "|OFFBOARD";
         }
     } else {
-        mode = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
+        // use base_mode - not autopilot-specific
+        if (baseMode == 0) {
+            mode = "|PREFLIGHT";
+        } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) {
+            mode = "|AUTO";
+        } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) {
+            mode = "|MANUAL";
+            if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) {
+                mode += "|GUIDED";
+            } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) {
+                mode += "|STABILIZED";
+            }
+        }
+
     }
     
     return mode;
 }
 
-void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
+void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
 {
     Q_ASSERT(context);
-    Q_ASSERT(uas);
-    
-    QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
-    Q_UNUSED(paramMgr);
-    Q_ASSERT(paramMgr);
-    Q_ASSERT(paramMgr->parametersReady());
     
-    PX4ParameterFacts* facts = _parameterFactsForUas(uas);
-    Q_ASSERT(facts);
+    Q_ASSERT(_parameterFacts->factsAreReady());
     
-    context->setContextProperty("parameterFacts", facts);
+    context->setContextProperty("parameterFacts", _parameterFacts);
 }
 
-/// @brief When a new uas is create we add a new set of parameter facts for it
-void PX4AutoPilotPlugin::_uasCreated(UASInterface* uas)
+void PX4AutoPilotPlugin::clearStaticData(void)
 {
-    Q_ASSERT(uas);
-    Q_ASSERT(!_mapUas2ParameterFacts.contains(uas));
-    
-    // Each uas has it's own set of parameter facts
-    PX4ParameterFacts* facts = new PX4ParameterFacts(uas, this);
-    Q_CHECK_PTR(facts);
-    _mapUas2ParameterFacts[uas] = facts;
+    PX4ParameterFacts::clearStaticData();
 }
 
-/// @brief When the uas is deleted we remove the parameter facts for it from the system
-void PX4AutoPilotPlugin::_uasDeleted(UASInterface* uas)
+bool PX4AutoPilotPlugin::pluginIsReady(void) const
 {
-    delete _parameterFactsForUas(uas);
-    _mapUas2ParameterFacts.remove(uas);
-}
-
-PX4ParameterFacts* PX4AutoPilotPlugin::_parameterFactsForUas(UASInterface* uas) const
-{
-    Q_ASSERT(uas);
-    Q_ASSERT(_mapUas2ParameterFacts.contains(uas));
-    
-    return _mapUas2ParameterFacts[uas];
+    return _parameterFacts->factsAreReady();
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -25,6 +25,7 @@
 #define PX4AUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 #include "UASInterface.h"
 #include "PX4ParameterFacts.h"
 
@@ -37,23 +38,23 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    PX4AutoPilotPlugin(QObject* parent);
+    PX4AutoPilotPlugin(UASInterface* uas, QObject* parent);
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
-    virtual QList<FullMode_t> getModes(void) const;
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
-    
-private slots:
-    void _uasCreated(UASInterface* uas);
-    void _uasDeleted(UASInterface* uas);
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
+    virtual void addFactsToQmlContext(QQmlContext* context) const;
+    virtual QObject* parameterFacts(void) const { return _parameterFacts; }
+    virtual bool pluginIsReady(void) const;
+
+    static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
+    static void clearStaticData(void);
     
 private:
-    PX4ParameterFacts* _parameterFactsForUas(UASInterface* uas) const;
-    
-    QMap<UASInterface*, PX4ParameterFacts*> _mapUas2ParameterFacts;
+    UASInterface*       _uas;
+    PX4ParameterFacts*  _parameterFacts;
+    bool                _pluginReady;
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc

@@ -25,6 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "PX4ParameterFacts.h"
+#include "QGCApplication.h"
 
 #include <QFile>
 #include <QDebug>
@@ -32,12 +33,14 @@
 Q_LOGGING_CATEGORY(PX4ParameterFactsLog, "PX4ParameterFactsLog")
 Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
 
+bool PX4ParameterFacts::_parameterMetaDataLoaded = false;
 QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData;
 
 PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
     QObject(parent),
     _lastSeenComponent(-1),
-    _paramMgr(NULL)
+    _paramMgr(NULL),
+    _factsReady(false)
 {
     Q_ASSERT(uas);
 
@@ -46,11 +49,14 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
     _paramMgr = uas->getParamManager();
     Q_ASSERT(_paramMgr);
     
+    // We need to be initialized before param mgr starts sending parameters so we catch each one
+    Q_ASSERT(!_paramMgr->parametersReady());
+    
+    // We need to know when the param mgr is done sending the initial set of paramters
+    connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+    
     // UASInterface::parameterChanged has multiple overrides so we need to use SIGNAL/SLOT style connect
     connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
-    
-    // Fact meta data should already be loaded
-    Q_ASSERT(_mapParameterName2FactMetaData.count() != 0);
 }
 
 PX4ParameterFacts::~PX4ParameterFacts()
@@ -90,7 +96,7 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
     // If we don't have meta data for the parameter it can't be part of the FactSystem
     if (!_mapParameterName2FactMetaData.contains(parameterName)) {
         // FIXME: Debug or Warning. Warning will fail TC
-        qCDebug(PX4ParameterFactsLog) << "FactSystem meta data out of date. Missing parameter:" << parameterName;
+        qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
         return;
     }
     
@@ -99,19 +105,22 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
         
         fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
         
-        // We need to know when the fact changes so that we can send the new value to the parameter managers
-        connect(fact, &Fact::valueUpdated, this, &PX4ParameterFacts::_valueUpdated);
-        
         _mapParameterName2Fact[parameterName] = fact;
         _mapFact2ParameterName[fact] = parameterName;
+        
+        // We need to know when the fact changes so that we can send the new value to the parameter manager
+        connect(fact, &Fact::_containerValueChanged, this, &PX4ParameterFacts::_valueUpdated);
+        
+        //qDebug() << "Adding new fact" << parameterName;
     }
-    _mapParameterName2Fact[parameterName]->updateValue(value);
+    //qDebug() << "Updating fact value" << parameterName << value;
+    _mapParameterName2Fact[parameterName]->_containerSetValue(value);
 }
 
 /// Connected to Fact::valueUpdated
 ///
 /// Sets the new value into the Parameter Manager. Paramter is persisted after send.
-void PX4ParameterFacts::_valueUpdated(QVariant& value)
+void PX4ParameterFacts::_valueUpdated(QVariant value)
 {
     Fact* fact = qobject_cast<Fact*>(sender());
     Q_ASSERT(fact);
@@ -285,6 +294,11 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
 /// The meta data comes from firmware parameters.xml file.
 void PX4ParameterFacts::loadParameterFactMetaData(void)
 {
+    if (_parameterMetaDataLoaded) {
+        return;
+    }
+    _parameterMetaDataLoaded = true;
+    
     qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
 
     Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
@@ -347,3 +361,29 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
         xml.readNext();
     }
 }
+
+// Called when param mgr list is up to date
+void PX4ParameterFacts::_paramMgrParameterListUpToDate(void)
+{
+    if (!_factsReady) {
+        _factsReady = true;
+        
+        // We don't need this any more
+        disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+
+        // There may be parameterUpdated signals still in our queue. Flush them out.
+        qgcApp()->processEvents();
+        
+        // We should have all paramters now so we can signal ready
+        emit factsReady();
+    }
+}
+
+void PX4ParameterFacts::clearStaticData(void)
+{
+    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
+        delete _mapParameterName2FactMetaData[parameterName];
+    }
+    _mapParameterName2FactMetaData.clear();
+    _parameterMetaDataLoaded = false;
+}
\ No newline at end of file

src/AutoPilotPlugins/PX4/PX4ParameterFacts.h

@@ -487,6 +487,7 @@ class PX4ParameterFacts : public QObject
     Q_PROPERTY(Fact* UAVCAN_BITRATE READ getUAVCAN_BITRATE CONSTANT) Fact* getUAVCAN_BITRATE(void) { return _mapParameterName2Fact["UAVCAN_BITRATE"]; }
     Q_PROPERTY(Fact* UAVCAN_ENABLE READ getUAVCAN_ENABLE CONSTANT) Fact* getUAVCAN_ENABLE(void) { return _mapParameterName2Fact["UAVCAN_ENABLE"]; }
     Q_PROPERTY(Fact* UAVCAN_NODE_ID READ getUAVCAN_NODE_ID CONSTANT) Fact* getUAVCAN_NODE_ID(void) { return _mapParameterName2Fact["UAVCAN_NODE_ID"]; }
+    Q_PROPERTY(QString testString READ getTestString CONSTANT)
     
 public:
     /// @param uas Uas which this set of facts is associated with
@@ -496,13 +497,20 @@ public:
     
     static void loadParameterFactMetaData(void);
     static void deleteParameterFactMetaData(void);
+    static void clearStaticData(void);
+    
+    /// Returns true if the full set of facts are ready
+    bool factsAreReady(void) { return _factsReady; }
+    
+signals:
+    /// Signalled when the full set of facts are ready
+    void factsReady(void);
     
 private slots:
-    /// Connected to UASInterface::parameterChanged
     void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
-    
-    /// Signalled from Fact to indicate value was changed through the property write accessor
-    void _valueUpdated(QVariant& value);
+    void _valueUpdated(QVariant value);
+    void _paramMgrParameterListUpToDate(void);
+    QString getTestString(void) { return QString("foo"); }
     
 private:
     static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group);
@@ -512,12 +520,15 @@ private:
     QMap<QString, Fact*> _mapParameterName2Fact;    ///< Maps from a parameter name to a Fact
     QMap<Fact*, QString> _mapFact2ParameterName;    ///< Maps from a Fact to a parameter name
     
+    static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
     static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
     
     int _uasId;             ///< Id for uas which this set of Facts are associated with
     int _lastSeenComponent;
     
     QGCUASParamManagerInterface* _paramMgr;
+    
+    bool _factsReady;   ///< All facts received from param mgr
 };
 
 #endif
\ No newline at end of file

src/FactSystem/Fact.cc

@@ -34,14 +34,15 @@ Fact::Fact(QObject* parent) :
 
 }
 
-void Fact::setValue(QVariant& value)
+void Fact::setValue(const QVariant& value)
 {
     _value = value;
-    emit valueUpdated(value);
+    emit valueChanged(_value);
+    emit _containerValueChanged(_value);
 }
 
-void Fact::updateValue(QVariant& value)
+void Fact::_containerSetValue(const QVariant& value)
 {
     _value = value;
-    emit valueChanged(value);
+    emit valueChanged(_value);
 }

src/FactSystem/Fact.h

@@ -62,7 +62,7 @@ public:
     QVariant value(void) const { return _value; }
     
     /// Write accessor for value property
-    void setValue(QVariant& value);
+    void setValue(const QVariant& value);
     
     /// Read accesor for defaultValue property
     QVariant defaultValue(void) { return _metaData->defaultValue; }
@@ -85,24 +85,21 @@ public:
     /// Read accesor for max property
     QVariant max(void) { return _metaData->max; }
     
-    /// Used to update the value property from C++ code.
-    ///
-    /// The setValue method is only for use by the QObject Property system. It should not be called directly by C++ app code.
-    void updateValue(QVariant& value);
-    
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData) { _metaData = metaData; }
     
+    void _containerSetValue(const QVariant& value);
+    
 signals:
     /// QObject Property System signal for value property changes
     ///
     /// This signal is only meant for use by the QT property system. It should not be connected to by client code.
-    void valueChanged(QVariant& value);
+    void valueChanged(QVariant value);
     
     /// Signalled when property has been changed by a call to the property write accessor
     ///
-    /// This signal is meant for use by client code.
-    void valueUpdated(QVariant& value);
+    /// This signal is meant for use by Fact container implementations.
+    void _containerValueChanged(QVariant& value);
     
 private:
     QVariant        _value;     ///< Fact value

src/FactSystem/FactSystem.h

@@ -50,7 +50,6 @@ class FactSystem : public QGCSingleton
 private:
     /// All access to FactSystem is through FactSystem::instance, so constructor is private
     FactSystem(QObject* parent = NULL);
-    
     ~FactSystem();
     
     static const char* _factSystemQmlUri;   ///< URI for FactSystem QML imports

src/GAudioOutput.cc

@@ -32,37 +32,22 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QApplication>
 #include <QSettings>
-#include "GAudioOutput.h"
 #include <QDebug>
-#include <QGC.h>
 
-/**
- * This class follows the singleton design pattern
- * @see http://en.wikipedia.org/wiki/Singleton_pattern
- * A call to this function thus returns the only instance of this object
- * the call can occur at any place in the code, no reference to the
- * GAudioOutput object has to be passed.
- */
-GAudioOutput *GAudioOutput::instance()
-{
-    static GAudioOutput *_instance = 0;
-
-    if (_instance == 0)
-    {
-        _instance = new GAudioOutput();
-        // Set the application as parent to ensure that this object
-        // will be destroyed when the main application exits
-        _instance->setParent(qApp);
-    }
+#include "GAudioOutput.h"
+#include "QGCApplication.h"
+#include "QGC.h"
 
-    return _instance;
-}
+IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
 
-GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
+GAudioOutput::GAudioOutput(QObject *parent) :
+    QGCSingleton(parent),
     muted(false),
     thread(new QThread()),
     worker(new QGCAudioWorker())
 {
+    muted = qgcApp()->runningUnitTests();
+    
     worker->moveToThread(thread);
     connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int)));
     connect(this, SIGNAL(beepOnce()), worker, SLOT(beep()));
@@ -72,9 +57,8 @@ GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
 GAudioOutput::~GAudioOutput()
 {
     thread->quit();
-    while (thread->isRunning()) {
-        QGC::SLEEP::usleep(100);
-    }
+    thread->wait();
+
     delete worker;
     delete thread;
 }
@@ -82,19 +66,19 @@ GAudioOutput::~GAudioOutput()
 
 void GAudioOutput::mute(bool mute)
 {
-    // XXX handle muting
-    Q_UNUSED(mute);
+    muted = mute;
 }
 
 bool GAudioOutput::isMuted()
 {
-    // XXX return right stuff
-    return false;
+    return muted;
 }
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    emit textToSpeak(text, severity);
+    if (!muted) {
+        emit textToSpeak(text, severity);
+    }
     return true;
 }
 
@@ -103,7 +87,9 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    emit textToSpeak(text, 1);
+    if (!muted) {
+        emit textToSpeak(text, 1);
+    }
     return true;
 }
 
@@ -172,5 +158,7 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
-    emit beepOnce();
+    if (!muted) {
+        emit beepOnce();
+    }
 }

src/GAudioOutput.h

@@ -37,19 +37,21 @@ This file is part of the PIXHAWK project
 #include <QThread>
 #include <QStringList>
 
-#include <QGCAudioWorker.h>
+#include "QGCAudioWorker.h"
+#include "QGCSingleton.h"
 
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
  * This class follows the singleton design pattern
  * @see http://en.wikipedia.org/wiki/Singleton_pattern
  */
-class GAudioOutput : public QObject
+class GAudioOutput : public QGCSingleton
 {
     Q_OBJECT
+    
+    DECLARE_QGC_SINGLETON(GAudioOutput, GAudioOutput)
+    
 public:
-    /** @brief Get the singleton instance */
-    static GAudioOutput *instance();
     /** @brief List available voices */
     QStringList listVoices(void);
     enum
@@ -104,6 +106,7 @@ protected:
     bool muted;
     QThread* thread;
     QGCAudioWorker* worker;
+    
 private:
     GAudioOutput(QObject *parent = NULL);
     ~GAudioOutput();

src/QGCApplication.cc

@@ -31,7 +31,6 @@
 
 #include <QFile>
 #include <QFlags>
-#include <QThread>
 #include <QSplashScreen>
 #include <QPixmap>
 #include <QDesktopWidget>
@@ -182,8 +181,6 @@ void QGCApplication::_initCommon(void)
 {
     QSettings settings;
     
-    _createSingletons();
-    
     // Show user an upgrade message if the settings version has been bumped up
     bool settingsUpgraded = false;
     if (settings.contains(_settingsVersionKey)) {
@@ -244,6 +241,8 @@ bool QGCApplication::_initForNormalAppBoot(void)
 {
     QSettings settings;
     
+    _createSingletons();
+    
     enum MainWindow::CUSTOM_MODE mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_PX4).toInt();
     
     // Show splash screen
@@ -425,6 +424,11 @@ QGCApplication* qgcApp(void)
 void QGCApplication::_createSingletons(void)
 {
     // The order here is important since the singletons reference each other
+    
+    GAudioOutput* audio = GAudioOutput::_createSingleton();
+    Q_UNUSED(audio);
+    Q_ASSERT(audio);
+    
     LinkManager* linkManager = LinkManager::_createSingleton();
     Q_UNUSED(linkManager);
     Q_ASSERT(linkManager);
@@ -443,14 +447,34 @@ void QGCApplication::_createSingletons(void)
     FactSystem* factSystem = FactSystem::_createSingleton();
     Q_UNUSED(factSystem);
     Q_ASSERT(factSystem);
+    
+    // Needs everything!
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
+    Q_UNUSED(mavlink);
+    Q_ASSERT(mavlink);
 }
 
 void QGCApplication::_destroySingletons(void)
 {
+    if (LinkManager::instance(true /* nullOk */)) {
+        // This will close/delete all connections
+        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);
+    
     // Take down singletons in reverse order of creation
 
+    MAVLinkProtocol::_deleteSingleton();
     FactSystem::_deleteSingleton();
     AutoPilotPluginManager::_deleteSingleton();
     UASManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
+    GAudioOutput::_deleteSingleton();
 }

src/QGCQuickWidget.cc

@@ -43,9 +43,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     UASInterface* uas = uasMgr->getActiveUAS();
     Q_ASSERT(uas);
     
-    AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas->getAutopilotType())->addFactsToQmlContext(rootContext(), uas);
-    
     rootContext()->engine()->addImportPath("qrc:/qml");
     
-    setSource(QUrl::fromLocalFile("/Users/Don/repos/qgroundcontrol/test.qml"));
+    AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas)->addFactsToQmlContext(rootContext());
 }

src/QGCSingleton.h

@@ -37,7 +37,7 @@
 ///             For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
 #define DECLARE_QGC_SINGLETON(className, interfaceName) \
     public: \
-        static interfaceName* instance(void); \
+        static interfaceName* instance(bool nullOk = false); \
         static void setMockInstance(interfaceName* mock); \
     private: \
         static interfaceName* _createSingleton(void); \
@@ -75,9 +75,11 @@
         } \
     } \
     \
-    interfaceName* className::instance(void) \
+    interfaceName* className::instance(bool nullOk) \
     { \
-        Q_ASSERT_X(_instance, "QGCSingleton", "If you hit this, then you have run into a startup or shutdown sequence bug."); \
+        if (!nullOk) { \
+            Q_ASSERT_X(_instance, "QGCSingleton", "If you hit this, then you have run into a startup or shutdown sequence bug."); \
+        } \
         return _instance; \
     } \
     \

src/VehicleSetup/SetupView.cc

@@ -208,7 +208,7 @@ void SetupView::_parametersReady(void)
     
     _ui->summaryButton->setVisible(true);
     
-    _components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent->getAutopilotType())->getVehicleComponents(_uasCurrent);
+    _components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent)->getVehicleComponents();
     
     foreach(VehicleComponent* component, _components) {
         VehicleComponentButton* button = new VehicleComponentButton(component, _ui->navBarWidget);

src/audio/QGCAudioWorker.cpp

@@ -76,21 +76,17 @@ void QGCAudioWorker::init()
     }
 
 #endif
-
-    // Prepare regular emergency signal, will be fired off on calling startEmergency()
-    emergencyTimer = new QTimer();
-    connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
-
 }
 
 QGCAudioWorker::~QGCAudioWorker()
 {
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-    pVoice->Release();
-    pVoice = NULL;
+	if (pVoice) {
+		pVoice->Release();
+		pVoice = NULL;
+	}
     ::CoUninitialize();
 #endif
-    delete emergencyTimer;
 }
 
 void QGCAudioWorker::say(QString text, int severity)

src/comm/LinkManager.cc

@@ -47,27 +47,14 @@ IMPLEMENT_QGC_SINGLETON(LinkManager, LinkManager)
  **/
 LinkManager::LinkManager(QObject* parent) :
     QGCSingleton(parent),
-    _connectionsSuspended(false),
-    _mavlink(NULL)
+    _connectionsSuspended(false)
 {
-    _mavlink = new MAVLinkProtocol(this);
-    Q_CHECK_PTR(_mavlink);
+
 }
 
 LinkManager::~LinkManager()
 {
-    disconnectAll();
-    
-    foreach (LinkInterface* link, _links) {
-        Q_ASSERT(link);
-        deleteLink(link);
-    }
-    _links.clear();
-    
-    // Clear out the queue so disconnects make it all the way through threads
-    qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-    
-    delete _mavlink;
+    Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
 }
 
 void LinkManager::addLink(LinkInterface* link)
@@ -92,10 +79,11 @@ void LinkManager::addLink(LinkInterface* link)
         connect(link, SIGNAL(communicationError(QString,QString)), MainWindow::instance(), SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
     }
     
-    connect(link, &LinkInterface::bytesReceived, _mavlink, &MAVLinkProtocol::receiveBytes);
-    connect(link, &LinkInterface::connected, _mavlink, &MAVLinkProtocol::linkConnected);
-    connect(link, &LinkInterface::disconnected, _mavlink, &MAVLinkProtocol::linkDisconnected);
-    _mavlink->resetMetadataForLink(link);
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+    connect(link, &LinkInterface::bytesReceived, mavlink, &MAVLinkProtocol::receiveBytes);
+    connect(link, &LinkInterface::connected, mavlink, &MAVLinkProtocol::linkConnected);
+    connect(link, &LinkInterface::disconnected, mavlink, &MAVLinkProtocol::linkDisconnected);
+    mavlink->resetMetadataForLink(link);
 }
 
 bool LinkManager::connectAll()
@@ -221,3 +209,12 @@ void LinkManager::setConnectionsSuspended(QString reason)
     _connectionsSuspendedReason = reason;
     Q_ASSERT(!reason.isEmpty());
 }
+
+void LinkManager::_shutdown(void)
+{
+    QList<LinkInterface*> links = _links;
+    foreach(LinkInterface* link, links) {
+        disconnectLink(link);
+        deleteLink(link);
+    }
+}

src/comm/LinkManager.h

@@ -27,7 +27,6 @@ This file is part of the PIXHAWK project
 #ifndef _LINKMANAGER_H_
 #define _LINKMANAGER_H_
 
-#include <QThread>
 #include <QList>
 #include <QMultiMap>
 #include <QMutex>
@@ -89,9 +88,6 @@ public:
     /// Disconnect the specified link
     bool disconnectLink(LinkInterface* link);
     
-    /// Returns the one mavlink protocol object in the system
-    MAVLinkProtocol* mavlink(void) { return _mavlink; }
-    
 signals:
     void newLink(LinkInterface* link);
     void linkDeleted(LinkInterface* link);
@@ -99,8 +95,9 @@ signals:
 private:
     /// All access to LinkManager is through LinkManager::instance
     LinkManager(QObject* parent = NULL);
-    
     ~LinkManager();
+    
+    virtual void _shutdown(void);
 
     bool _connectionsSuspendedMsg(void);
     
@@ -109,8 +106,6 @@ private:
     
     bool    _connectionsSuspended;          ///< true: all new connections should not be allowed
     QString _connectionsSuspendedReason;    ///< User visible reason for suspension
-    
-    MAVLinkProtocol* _mavlink;  ///< The one and only mavlink protocol
 };
 
 #endif

src/comm/MAVLinkProtocol.cc

@@ -31,6 +31,8 @@
 #include "QGCApplication.h"
 
 Q_DECLARE_METATYPE(mavlink_message_t)
+IMPLEMENT_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
+Q_LOGGING_CATEGORY(MAVLinkProtocolLog, "MAVLinkProtocolLog")
 
 const char* MAVLinkProtocol::_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file
 const char* MAVLinkProtocol::_logFileExtension = "mavlink";             ///< Extension for log files
@@ -39,10 +41,8 @@ const char* MAVLinkProtocol::_logFileExtension = "mavlink";             ///< Ext
  * The default constructor will create a new MAVLink object sending heartbeats at
  * the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
  */
-MAVLinkProtocol::MAVLinkProtocol(LinkManager* linkMgr) :
-    heartbeatTimer(NULL),
-    heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
-    m_heartbeatsEnabled(true),
+MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
+    QGCSingleton(parent),
     m_multiplexingEnabled(false),
     m_authEnabled(false),
     m_enable_version_check(true),
@@ -53,19 +53,19 @@ MAVLinkProtocol::MAVLinkProtocol(LinkManager* linkMgr) :
     m_actionRetransmissionTimeout(100),
     versionMismatchIgnore(false),
     systemId(QGC::defaultSystemId),
-    _should_exit(false),
     _logSuspendError(false),
     _logSuspendReplay(false),
     _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension)),
     _protocolStatusMessageConnected(false),
     _saveTempFlightDataLogConnected(false),
-    _linkMgr(linkMgr)
+    _linkMgr(LinkManager::instance()),
+    _heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
+    _heartbeatsEnabled(true)
 {
     qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
     
     m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
     loadSettings();
-    moveToThread(this);
 
     // All the *Counter variables are not initialized here, as they should be initialized
     // on a per-link basis before those links are used. @see resetMetadataForLink().
@@ -78,18 +78,27 @@ MAVLinkProtocol::MAVLinkProtocol(LinkManager* linkMgr) :
             lastIndex[i][j] = -1;
         }
     }
-
-    start(QThread::HighPriority);
+    
+    // Start heartbeat timer, emitting a heartbeat at the configured rate
+    connect(&_heartbeatTimer, &QTimer::timeout, this, &MAVLinkProtocol::sendHeartbeat);
+    _heartbeatTimer.start(1000/_heartbeatRate);
 
     emit versionCheckChanged(m_enable_version_check);
 }
 
+MAVLinkProtocol::~MAVLinkProtocol()
+{
+    storeSettings();
+    
+    _closeLogFile();
+}
+
 void MAVLinkProtocol::loadSettings()
 {
     // Load defaults from settings
     QSettings settings;
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
-    enableHeartbeats(settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool());
+    enableHeartbeats(settings.value("HEARTBEATS_ENABLED", _heartbeatsEnabled).toBool());
     enableVersionCheck(settings.value("VERSION_CHECK_ENABLED", m_enable_version_check).toBool());
     enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool());
 
@@ -119,7 +128,7 @@ void MAVLinkProtocol::storeSettings()
     // Store settings
     QSettings settings;
     settings.beginGroup("QGC_MAVLINK_PROTOCOL");
-    settings.setValue("HEARTBEATS_ENABLED", m_heartbeatsEnabled);
+    settings.setValue("HEARTBEATS_ENABLED", _heartbeatsEnabled);
     settings.setValue("VERSION_CHECK_ENABLED", m_enable_version_check);
     settings.setValue("MULTIPLEXING_ENABLED", m_multiplexingEnabled);
     settings.setValue("GCS_SYSTEM_ID", systemId);
@@ -132,43 +141,6 @@ void MAVLinkProtocol::storeSettings()
     settings.endGroup();
 }
 
-MAVLinkProtocol::~MAVLinkProtocol()
-{
-    storeSettings();
-    
-    _closeLogFile();
-
-    // Tell the thread to exit
-    _should_exit = true;
-    // Wait for it to exit
-    wait();
-}
-
-/**
- * @brief Runs the thread
- *
- **/
-void MAVLinkProtocol::run()
-{
-    heartbeatTimer = new QTimer();
-    heartbeatTimer->moveToThread(this);
-    // Start heartbeat timer, emitting a heartbeat at the configured rate
-    connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
-    heartbeatTimer->start(1000/heartbeatRate);
-
-    while(!_should_exit) {
-
-        if (isFinished()) {
-            delete heartbeatTimer;
-            qDebug() << "MAVLINK WORKER DONE!";
-            return;
-        }
-
-        QCoreApplication::processEvents();
-        QGC::SLEEP::msleep(2);
-    }
-}
-
 void MAVLinkProtocol::resetMetadataForLink(const LinkInterface *link)
 {
     int linkId = link->getId();
@@ -197,6 +169,7 @@ void MAVLinkProtocol::linkDisconnected(void)
 
 void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
 {
+    qCDebug(MAVLinkProtocolLog) << "_linkStatusChanged" << QString("%1").arg((long)link, 0, 16) << connected;
     Q_ASSERT(link);
     
     if (connected) {
@@ -559,7 +532,7 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
  */
 void MAVLinkProtocol::sendHeartbeat()
 {
-    if (m_heartbeatsEnabled)
+    if (_heartbeatsEnabled)
     {
         mavlink_message_t beat;
         mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
@@ -576,10 +549,10 @@ void MAVLinkProtocol::sendHeartbeat()
     }
 }
 
-/** @param enabled true to enable heartbeats emission at heartbeatRate, false to disable */
+/** @param enabled true to enable heartbeats emission at _heartbeatRate, false to disable */
 void MAVLinkProtocol::enableHeartbeats(bool enabled)
 {
-    m_heartbeatsEnabled = enabled;
+    _heartbeatsEnabled = enabled;
     emit heartbeatChanged(enabled);
 }
 
@@ -655,14 +628,14 @@ void MAVLinkProtocol::enableVersionCheck(bool enabled)
  */
 void MAVLinkProtocol::setHeartbeatRate(int rate)
 {
-    heartbeatRate = rate;
-    heartbeatTimer->setInterval(1000/heartbeatRate);
+    _heartbeatRate = rate;
+    _heartbeatTimer.setInterval(1000/_heartbeatRate);
 }
 
 /** @return heartbeat rate in Hertz */
 int MAVLinkProtocol::getHeartbeatRate()
 {
-    return heartbeatRate;
+    return _heartbeatRate;
 }
 
 /// @brief Closes the log file if it is open
@@ -705,7 +678,8 @@ void MAVLinkProtocol::_startLogging(void)
 void MAVLinkProtocol::_stopLogging(void)
 {
     if (_closeLogFile()) {
-        if (qgcApp()->promptFlightDataSave()) {
+        // If the signals are not connected it means we are running a unit test. In that case just delete log files
+        if (_protocolStatusMessageConnected && _saveTempFlightDataLogConnected && qgcApp()->promptFlightDataSave()) {
             emit saveTempFlightDataLog(_tempLogFile.fileName());
         } else {
             QFile::remove(_tempLogFile.fileName());
@@ -761,11 +735,6 @@ void MAVLinkProtocol::_checkLostLogFiles(void)
 
 void MAVLinkProtocol::suspendLogForReplay(bool suspend)
 {
-    // This must come through a slot so that we handle this on the right thread. This will
-    // also cause the signal to be queued behind any bytesReady signals which must be flushed
-    // out of the queue before we change suspend state.
-    Q_ASSERT(QThread::currentThread() == this);
-    
     _logSuspendReplay = suspend;
 }
 

src/comm/MAVLinkProtocol.h

@@ -37,14 +37,18 @@ This file is part of the QGROUNDCONTROL project
 #include <QFile>
 #include <QMap>
 #include <QByteArray>
+#include <QLoggingCategory>
 
 #include "LinkInterface.h"
 #include "QGCMAVLink.h"
 #include "QGC.h"
 #include "QGCTemporaryFile.h"
+#include "QGCSingleton.h"
 
 class LinkManager;
 
+Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
+
 /**
  * @brief MAVLink micro air vehicle protocol reference implementation.
  *
@@ -52,14 +56,13 @@ class LinkManager;
  * for more information, please see the official website.
  * @ref http://pixhawk.ethz.ch/software/mavlink/
  **/
-class MAVLinkProtocol : public QThread
+class MAVLinkProtocol : public QGCSingleton
 {
     Q_OBJECT
     
-public:
-    MAVLinkProtocol(LinkManager *linkMgr);
-    ~MAVLinkProtocol();
+    DECLARE_QGC_SINGLETON(MAVLinkProtocol, MAVLinkProtocol)
 
+public:
     /** @brief Get the human-friendly name of this protocol */
     QString getName();
     /** @brief Get the system id of this application */
@@ -70,7 +73,7 @@ public:
     int getHeartbeatRate();
     /** @brief Get heartbeat state */
     bool heartbeatsEnabled() const {
-        return m_heartbeatsEnabled;
+        return _heartbeatsEnabled;
     }
     
     /** @brief Get protocol version check state */
@@ -139,7 +142,8 @@ public:
      */
     virtual void resetMetadataForLink(const LinkInterface *link);
     
-    void run();
+    /// Suspend/Restart logging during replay.
+    void suspendLogForReplay(bool suspend);
 
 public slots:
     /** @brief Receive bytes from a communication interface */
@@ -199,11 +203,6 @@ public slots:
     /** @brief Store protocol settings */
     void storeSettings();
     
-    /// @brief Suspend/Restart logging during replay. This must be emitted as a signal
-    ///         and not called directly in order to synchronize with the bytesReady signal
-    ///         which may be ahead of it in the signal queue.
-    void suspendLogForReplay(bool suspend);
-    
     /// @brief Deletes any log files which are in the temp directory
     static void deleteTempLogFiles(void);
 
@@ -211,9 +210,6 @@ protected:
     // Override from QObject
     virtual void connectNotify(const QMetaMethod& signal);
 
-    QTimer *heartbeatTimer;    ///< Timer to emit heartbeats
-    int heartbeatRate;         ///< Heartbeat rate, controls the timer interval
-    bool m_heartbeatsEnabled;  ///< Enabled/disable heartbeat emission
     bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
     bool m_authEnabled;        ///< Enable authentication token broadcast
     QString m_authKey;         ///< Authentication key
@@ -232,7 +228,6 @@ protected:
     int currLossCounter[MAVLINK_COMM_NUM_BUFFERS];        ///< Lost messages during this sample time window. Used for calculating loss %.
     bool versionMismatchIgnore;
     int systemId;
-    bool _should_exit;
 
 signals:
     /** @brief Message received and directly copied via signal */
@@ -282,6 +277,9 @@ signals:
     void saveTempFlightDataLog(QString tempLogfile);
     
 private:
+    MAVLinkProtocol(QObject* parent = NULL);
+    ~MAVLinkProtocol();
+
     void _linkStatusChanged(LinkInterface* link, bool connected);
     bool _closeLogFile(void);
     void _startLogging(void);
@@ -301,6 +299,10 @@ private:
     bool _saveTempFlightDataLogConnected;   ///< true: saveTempFlightDataLog signal has been connected
     
     LinkManager* _linkMgr;
+    
+    QTimer  _heartbeatTimer;    ///< Timer to emit heartbeats
+    int     _heartbeatRate;     ///< Heartbeat rate, controls the timer interval
+    bool    _heartbeatsEnabled; ///< Enabled/disable heartbeat emission
 };
 
 #endif // MAVLINKPROTOCOL_H_

src/comm/SerialLink.cc

@@ -238,8 +238,6 @@ void SerialLink::run()
                 m_port->close();
                 delete m_port;
                 m_port = NULL;
-
-                emit disconnected();
             }
 
             QGC::SLEEP::msleep(500);
@@ -337,8 +335,6 @@ void SerialLink::run()
         m_port->close();
         delete m_port;
         m_port = NULL;
-
-        emit disconnected();
     }
 }
 
@@ -474,7 +470,9 @@ bool SerialLink::hardwareConnect(QString &type)
         return false; // couldn't create serial port.
     }
 
-    QObject::connect(m_port,SIGNAL(aboutToClose()),this,SIGNAL(disconnected()));
+    // We need to catch this signal and then emit disconnected. You can't connect
+    // signal to signal otherwise disonnected will have the wrong QObject::Sender
+    QObject::connect(m_port, SIGNAL(aboutToClose()), this, SLOT(_rerouteDisconnected()));
     QObject::connect(m_port, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(linkError(QSerialPort::SerialPortError)));
 
     checkIfCDC();
@@ -899,3 +897,8 @@ bool SerialLink::setStopBitsType(int stopBits)
     }
     return accepted;
 }
+
+void SerialLink::_rerouteDisconnected(void)
+{
+    emit disconnected();
+}

src/comm/SerialLink.h

@@ -162,6 +162,9 @@ protected:
     QMutex m_writeMutex;      // Mutex for accessing the m_transmitBuffer.
     QString type;
     bool m_is_cdc;
+    
+private slots:
+    void _rerouteDisconnected(void);
 
 private:
     // From LinkInterface

src/main.cc

@@ -118,7 +118,7 @@ int main(int argc, char *argv[])
         // Add additional command line option flags here
     };
     
-    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), true);
+    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
     
     if (quietWindowsAsserts) {
 #ifdef Q_OS_WIN
@@ -157,7 +157,7 @@ int main(int argc, char *argv[])
         }
         
         // Run the test
-        int failures = UnitTest::run(argc-1, argv, rgCmdLineOptions[0].optionArg);
+        int failures = UnitTest::run(rgCmdLineOptions[0].optionArg);
         if (failures == 0) {
             qDebug() << "ALL TESTS PASSED";
         } else {

src/qgcunittest/LinkManagerTest.cc

@@ -60,6 +60,8 @@ void LinkManagerTest::cleanup(void)
     Q_ASSERT(_linkMgr);
     Q_ASSERT(_multiSpy);
     
+    _linkMgr->_shutdown();
+    
     delete _linkMgr;
     delete _multiSpy;
     

src/qgcunittest/MockLink.h

@@ -25,10 +25,13 @@
 #define MOCKLINK_H
 
 #include <QMap>
+#include <QLoggingCategory>
 
 #include "MockLinkMissionItemHandler.h"
 #include "LinkInterface.h"
-#include "mavlink.h"
+#include "QGCMAVLink.h"
+
+Q_DECLARE_LOGGING_CATEGORY(MockLinkLog)
 
 /// @file
 ///     @brief Mock implementation of a Link.
@@ -57,8 +60,6 @@ public:
     bool disconnect(void);
     
 signals:
-    void error(const QString& errorMsg);
-    
     /// @brief Used internally to move data to the thread.
     void _incomingBytes(const QByteArray bytes);
     
@@ -88,7 +89,6 @@ private:
     void _handleIncomingNSHBytes(const char* bytes, int cBytes);
     void _handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes);
     void _loadParams(void);
-    void _errorInvalidTargetSystem(int targetId);
     void _emitMavlinkMessage(const mavlink_message_t& msg);
     void _handleHeartBeat(const mavlink_message_t& msg);
     void _handleSetMode(const mavlink_message_t& msg);
@@ -98,7 +98,9 @@ private:
     void _handleMissionRequestList(const mavlink_message_t& msg);
     void _handleMissionRequest(const mavlink_message_t& msg);
     void _handleMissionItem(const mavlink_message_t& msg);
-    
+    float _floatUnionForParam(const QString& paramName);
+    void _setParamFloatUnionIntoMap(const QString& paramName, float paramFloat);
+
     MockLinkMissionItemHandler* _missionItemHandler;
     
     int     _linkId;
@@ -111,9 +113,8 @@ private:
     bool    _inNSH;
     bool    _mavlinkStarted;
     
-    typedef QMap<QString, QVariant> ParamMap_t;
-    ParamMap_t  _parameters;
-    uint16_t    _cParameters;
+    QMap<QString, QVariant>         _mapParamName2Value;
+    QMap<QString, MAV_PARAM_TYPE>   _mapParamName2MavParamType;
     
     typedef QMap<uint16_t, mavlink_mission_item_t>   MissionList_t;
     MissionList_t   _missionItems;

src/qgcunittest/MockUAS.h

@@ -81,7 +81,7 @@ public:
     virtual QString getUASName() const { Q_ASSERT(false); return _bogusString; };
     virtual const QString& getShortState() const { Q_ASSERT(false); return _bogusString; };
     virtual const QString& getShortMode() const { Q_ASSERT(false); return _bogusString; };
-    static QString getShortModeTextFor(int id) { Q_UNUSED(id); Q_ASSERT(false); return _bogusStaticString; };
+    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(); };
@@ -100,7 +100,7 @@ public:
     virtual bool isArmed() const { Q_ASSERT(false); return false; };
     virtual int getAirframe() const { Q_ASSERT(false); return 0; };
     virtual UASWaypointManager* getWaypointManager(void) { Q_ASSERT(false); return NULL; };
-    virtual QList<LinkInterface*>* getLinks() { Q_ASSERT(false); return NULL; };
+    virtual QList<LinkInterface*> getLinks() { Q_ASSERT(false); return QList<LinkInterface*>(); };
     virtual bool systemCanReverse() const { Q_ASSERT(false); return false; };
     virtual QString getSystemTypeName() { Q_ASSERT(false); return _bogusString; };
     virtual int getAutopilotType() { return MAV_AUTOPILOT_PX4; };

src/qgcunittest/MockUASManager.h

@@ -106,6 +106,7 @@ public slots:
         { Q_ASSERT(false); Q_UNUSED(uav); Q_UNUSED(lat); Q_UNUSED(lon); Q_UNUSED(alt); }
     virtual void loadSettings() { Q_ASSERT(false); }
     virtual void storeSettings() { Q_ASSERT(false); }
+    virtual void _shutdown(void) { Q_ASSERT(false); }
     
 private:
     MockUAS*                _mockUAS;

src/qgcunittest/UASUnitTest.cc

 #include "UASUnitTest.h"
 #include <stdio.h>
 #include <QObject>
-#include <QThread>
 
 UT_REGISTER_TEST(UASUnitTest)
 
@@ -14,7 +13,7 @@ void UASUnitTest::init()
     UnitTest::init();
     
     _mavlink = new MAVLinkProtocol();
-    _uas = new UAS(_mavlink, QThread::currentThread(), UASID);
+    _uas = new UAS(_mavlink, UASID);
     _uas->deleteSettings();
 }
 //this function is called after every test
@@ -32,7 +31,7 @@ void UASUnitTest::cleanup()
 void UASUnitTest::getUASID_test()
 {
     // Test a default ID of zero is assigned
-    UAS* uas2 = new UAS(_mavlink, QThread::currentThread());
+    UAS* uas2 = new UAS(_mavlink);
     QCOMPARE(uas2->getUASID(), 0);
     delete uas2;
 
@@ -57,7 +56,7 @@ void UASUnitTest::getUASName_test()
 
 void UASUnitTest::getUpTime_test()
 {
-    UAS* uas2 = new UAS(_mavlink, QThread::currentThread());
+    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);
@@ -289,7 +288,7 @@ void UASUnitTest::signalWayPoint_test()
     delete _uas;// delete(destroyed) _uas for validating
     _uas = NULL;
     QCOMPARE(spyDestroyed.count(), 1);// count destroyed _uas should are 1
-    _uas = new UAS(_mavlink, QThread::currentThread(), UASID);
+    _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");

src/qgcunittest/UnitTest.cc

@@ -81,13 +81,15 @@ QList<QObject*>& UnitTest::_testList(void)
 	return tests;
 }
 
-int UnitTest::run(int argc, char *argv[], QString& singleTest)
+int UnitTest::run(QString& singleTest)
 {
     int ret = 0;
     
     foreach (QObject* test, _testList()) {
         if (singleTest.isEmpty() || singleTest == test->objectName()) {
-            ret += QTest::qExec(test, argc, argv);
+            QStringList args;
+            args << "*" << "-maxwarnings" << "0";
+            ret += QTest::qExec(test, args);
         }
     }
     

src/qgcunittest/UnitTest.h

@@ -49,10 +49,8 @@ public:
     virtual ~UnitTest(void);
     
     /// @brief Called to run all the registered unit tests
-    ///     @param argc argc from main
-    ///     @param argv argv from main
     ///     @param singleTest Name of test to just run a single test
-    static int run(int argc, char *argv[], QString& singleTest);
+    static int run(QString& singleTest);
     
     /// @brief Sets up for an expected QGCMessageBox
     ///     @param response Response to take on message box
@@ -103,18 +101,6 @@ protected slots:
     virtual void cleanup(void);
     
 protected:
-    /// @brief Must be called first by derived class implementation
-    void _initTestCase(void);
-    
-    /// @brief Must be called first by derived class implementation
-    void _cleanupTestCase(void);
-    
-    /// @brief Must be called first by derived class implementation
-    void _init(void);
-    
-    /// @brief Must be called first by derived class implementation
-    void _cleanup(void);
-    
     bool _expectMissedFileDialog;   // true: expect a missed file dialog, used for internal testing
     bool _expectMissedMessageBox;   // true: expect a missed message box, used for internal testing
     

src/uas/QGCMAVLinkUASFactory.cc

 #include "QGCMAVLinkUASFactory.h"
 #include "UASManager.h"
-#include "QGCUASWorker.h"
 #include "QGXPX4UAS.h"
 
 QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
@@ -23,13 +22,11 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 
     UASInterface* uas;
 
-    QGCUASWorker* worker = new QGCUASWorker();
-
     switch (heartbeat->autopilot)
     {
     case MAV_AUTOPILOT_GENERIC:
     {
-        UAS* mav = new UAS(mavlink, worker, sysid);
+        UAS* mav = new UAS(mavlink, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
@@ -41,7 +38,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     case MAV_AUTOPILOT_PX4:
     {
-        QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, worker, sysid);
+        QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, sysid);
         // Set the system type
         px4->setSystemType((int)heartbeat->type);
 
@@ -55,7 +52,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     default:
     {
-        UAS* mav = new UAS(mavlink, worker, sysid);
+        UAS* mav = new UAS(mavlink, sysid);
         mav->setSystemType((int)heartbeat->type);
 
         // Connect this robot to the UAS object
@@ -68,10 +65,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     }
 
-    // Get the UAS ready
-    worker->start(QThread::HighPriority);
-    connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
-
     // Set the autopilot type
     uas->setAutopilotType((int)heartbeat->autopilot);
 

src/uas/QGCUASFileManager.cc

@@ -481,7 +481,7 @@ void QGCUASFileManager::_sendRequest(Request* request)
     request->hdr.seqNumber = _lastOutgoingSeqNumber;
     
     if (_systemIdQGC == 0) {
-        _systemIdQGC = LinkManager::instance()->mavlink()->getSystemId();
+        _systemIdQGC = MAVLinkProtocol::instance()->getSystemId();
     }
     
     Q_ASSERT(_mav);

src/uas/QGCUASParamManager.cc

@@ -217,7 +217,7 @@ void QGCUASParamManager::requestRcCalibrationParamsUpdate() {
 
 void QGCUASParamManager::_parameterListUpToDate(void)
 {
-    qDebug() << "Emitting parameters ready, count:" << paramDataModel.countOnboardParams();
+    //qDebug() << "Emitting parameters ready, count:" << paramDataModel.countOnboardParams();
 
     _parametersReady = true;
     emit parameterListUpToDate();

src/uas/QGCUASWorker.cc

-#include "QGCUASWorker.h"
-
-#include <QGC.h>
-#include <QCoreApplication>
-#include <QDebug>
-
-QGCUASWorker::QGCUASWorker() : QThread(),
-    _should_exit(false)
-{
-}
-
-void QGCUASWorker::quit()
-{
-    _should_exit = true;
-}
-
-void QGCUASWorker::run()
-{
-    while(!_should_exit) {
-
-        QCoreApplication::processEvents();
-        QGC::SLEEP::msleep(2);
-    }
-}

src/uas/QGCUASWorker.h

-#ifndef QGCUASWORKER_H
-#define QGCUASWORKER_H
-
-#include <QThread>
-
-class QGCUASWorker : public QThread
-{
-public:
-    QGCUASWorker();
-
-public slots:
-    void quit();
-
-protected:
-    void run();
-
-    bool _should_exit;
-};
-
-#endif // QGCUASWORKER_H

src/uas/QGXPX4UAS.cc

 #include "QGXPX4UAS.h"
 
-QGXPX4UAS::QGXPX4UAS(MAVLinkProtocol* mavlink, QThread* thread, int id) :
-    UAS(mavlink, thread, id)
+QGXPX4UAS::QGXPX4UAS(MAVLinkProtocol* mavlink, int id) :
+    UAS(mavlink, id)
 {
 }
 

src/uas/QGXPX4UAS.h

@@ -8,7 +8,7 @@ class QGXPX4UAS : public UAS
     Q_OBJECT
     Q_INTERFACES(UASInterface)
 public:
-    QGXPX4UAS(MAVLinkProtocol* mavlink, QThread* thread, int id);
+    QGXPX4UAS(MAVLinkProtocol* mavlink, int id);
 
 public slots:
     /** @brief Receive a MAVLink message from this MAV */

src/uas/UAS.h

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #ifndef _UAS_H_
 #define _UAS_H_
 
-#include <QThread>
 #include "UASInterface.h"
 #include <MAVLinkProtocol.h>
 #include <QVector3D>
@@ -44,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCUASParamManager.h"
 #include "QGCUASFileManager.h"
 
+Q_DECLARE_LOGGING_CATEGORY(UASLog)
 
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
@@ -57,7 +57,7 @@ class UAS : public UASInterface
 {
     Q_OBJECT
 public:
-    UAS(MAVLinkProtocol* protocol, QThread* thread, int id = 0);
+    UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
     float lipoFull;  ///< 100% charged voltage
@@ -72,7 +72,7 @@ public:
     /** @brief Get short mode */
     const QString& getShortMode() const;
     /** @brief Translate from mode id to text */
-    static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
+    QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const;
     /** @brief Translate from mode id to audio text */
     static QString getAudioModeTextFor(int id);
     /** @brief Get the unique system id */
@@ -92,7 +92,7 @@ public:
     /** @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();
+    QList<LinkInterface*> getLinks();
 
     Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
     Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
@@ -341,7 +341,7 @@ protected: //COMMENTS FOR TEST UNIT
     /// LINK ID AND STATUS
     int uasId;                    ///< Unique system ID
     QMap<int, QString> components;///< IDs and names of all detected onboard components
-    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
+    QList<LinkInterface*> links;  ///< List of links this UAS can be reached by
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
     CommStatus commStatus;        ///< Communication status
@@ -473,7 +473,6 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// SIMULATION
     QGCHilLink* simulation;         ///< Hardware in the loop simulation link
-    QThread* _thread;
 
 public:
     /** @brief Set the current battery type */
@@ -952,13 +951,6 @@ protected slots:
     void writeSettings();
     /** @brief Read settings from disk */
     void readSettings();
-
-//    // MESSAGE RECEPTION
-//    /** @brief Receive a named value message */
-//    void receiveMessageNamedValue(const mavlink_message_t& message);
-
-private:
-//    unsigned int mode;          ///< The current mode of the MAV
 };
 
 

src/uas/UASInterface.h

@@ -103,7 +103,7 @@ public:
     /** @brief Get short mode */
     virtual const QString& getShortMode() const = 0;
     /** @brief Translate mode id into text */
-    static QString getShortModeTextFor(int id);
+    virtual QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const = 0;
     //virtual QColor getColor() = 0;
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
@@ -187,7 +187,7 @@ public:
          *         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;
+    virtual QList<LinkInterface*> getLinks() = 0;
 
     /**
      * @brief Get the color for this UAS

src/uas/UASManager.cc

@@ -42,10 +42,19 @@ UASManager::UASManager(QObject* parent) :
 UASManager::~UASManager()
 {
     storeSettings();
-    // Delete all systems
-    foreach (UASInterface* mav, systems) {
-        // deleteLater so it ends up on correct thread
-        mav->deleteLater();
+    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);
     }
 }
 
@@ -280,7 +289,8 @@ void UASManager::addUAS(UASInterface* uas)
     if (firstUAS)
     {
         setActiveUAS(uas);
-        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
+        // 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)
             {

src/uas/UASManager.h

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #define _UASMANAGER_H_
 
 #include "UASManagerInterface.h"
-#include <QThread>
 #include <QList>
 #include <QMutex>
 #include <UASInterface.h>
@@ -241,6 +240,8 @@ public slots:
     void loadSettings();
     /** @brief Store settings */
     void storeSettings();
+    
+    void _shutdown(void);
 
 
 protected:
@@ -262,7 +263,6 @@ protected:
 private:
     /// @brief All access to UASManager singleton is through UASManager::instance
     UASManager(QObject* parent = NULL);
-    
     ~UASManager();
 
 public:

src/uas/UASManagerInterface.h

@@ -31,7 +31,6 @@
 #ifndef _UASMANAGERINTERFACE_H_
 #define _UASMANAGERINTERFACE_H_
 
-#include <QThread>
 #include <QList>
 #include <QMutex>
 
@@ -91,6 +90,7 @@ public slots:
     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 */

src/uas/UASParameterCommsMgr.cc

@@ -71,7 +71,7 @@ void UASParameterCommsMgr::loadParamCommsSettings()
 
 void UASParameterCommsMgr::_sendParamRequestListMsg(void)
 {
-    MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
     Q_ASSERT(mavlink);
     
     mavlink_message_t msg;
@@ -411,7 +411,7 @@ void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsS
 
 void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value)
 {
-    qCDebug(UASParameterCommsMgrLog) << QString("Received parameter update for: name(%1) count(%2) index(%3)").arg(paramName).arg(paramCount).arg(paramId);
+    qCDebug(UASParameterCommsMgrLog) << "Received parameter update for:" << paramName << "count" << paramCount << "index" << paramId << "value" << value;
 
     Q_UNUSED(uas); //this object is assigned to one UAS only
     lastReceiveTime = QGC::groundTimeMilliseconds();

src/ui/CommConfigurationWindow.cc

@@ -224,7 +224,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, QWidget *p
     connect(ui.linkType,SIGNAL(currentIndexChanged(int)),this,SLOT(linkCurrentIndexChanged(int)));
 
     // Open details pane for MAVLink if necessary
-    MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
     QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
     ui.protocolScrollArea->setWidget(conf);
     ui.protocolGroupBox->setTitle(mavlink->getName()+" (Global Settings)");

src/ui/MainWindow.cc

@@ -130,8 +130,8 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     this->setAttribute(Qt::WA_DeleteOnClose);
     connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
     
-    connect(LinkManager::instance()->mavlink(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
-    connect(LinkManager::instance()->mavlink(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
+    connect(MAVLinkProtocol::instance(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
+    connect(MAVLinkProtocol::instance(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
     
     loadSettings();
     
@@ -294,7 +294,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     {
         // Restore the window geometry
         restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
-        show();
     }
     else
     {
@@ -305,12 +304,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
         if (screenWidth < 1500)
         {
             resize(screenWidth, screenHeight - 80);
-            show();
         }
         else
         {
             resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
-            show();
         }
 
     }
@@ -358,7 +355,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
     windowNameUpdateTimer.start(15000);
     emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    show();
+
+	if (!qgcApp()->runningUnitTests()) {
+		show();
+	}
 }
 
 MainWindow::~MainWindow()
@@ -489,12 +489,12 @@ void MainWindow::buildCustomWidget()
 void MainWindow::buildCommonWidgets()
 {
     // Add generic MAVLink decoder
-    mavlinkDecoder = new MAVLinkDecoder(LinkManager::instance()->mavlink(), this);
+    mavlinkDecoder = new MAVLinkDecoder(MAVLinkProtocol::instance(), this);
     connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
                       this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
     // Log player
-    logPlayer = new QGCMAVLinkLogPlayer(LinkManager::instance()->mavlink(), statusBar());
+    logPlayer = new QGCMAVLinkLogPlayer(MAVLinkProtocol::instance(), statusBar());
     statusBar()->addPermanentWidget(logPlayer);
 
     // Initialize all of the views, if they haven't been already, and add their central widgets
@@ -581,7 +581,7 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(simView, new PrimaryFlightDisplay(this), tr("Primary Flight Display"), "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET", VIEW_SIMULATION, Qt::RightDockWidgetArea);
 
     // Add dock widgets for the engineering view
-    createDockWidget(engineeringView, new QGCMAVLinkInspector(LinkManager::instance()->mavlink(), this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
+    createDockWidget(engineeringView, new QGCMAVLinkInspector(MAVLinkProtocol::instance(), this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new ParameterInterface(this), tr("Onboard Parameters"), "PARAMETER_INTERFACE_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new QGCUASFileViewMulti(this), tr("Onboard Files"), "FILE_VIEW_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new HUD(320, 240, this), tr("Video Downlink"), "HEAD_UP_DISPLAY_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
@@ -662,7 +662,7 @@ void MainWindow::loadDockWidget(const QString& name)
     }
     else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(LinkManager::instance()->mavlink(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
     {
@@ -816,7 +816,7 @@ void MainWindow::connectCommonWidgets()
 {
     if (infoDockWidget && infoDockWidget->widget())
     {
-        connect(LinkManager::instance()->mavlink(), SIGNAL(receiveLossChanged(int, float)),
+        connect(MAVLinkProtocol::instance(), SIGNAL(receiveLossChanged(int, float)),
                 infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
     }
 }

src/ui/OpalLinkConfigurationWindow.cc

@@ -15,7 +15,7 @@ OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
 
     connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
     connect(link, &LinkInterface::connected, this, OpalLinkConfigurationWindow::_linkConnected);
-    connect(link, &LinkInterface::disconnected, this, OpalLinkConfigurationWindow::_linkDisConnected);
+    connect(link, &LinkInterface::disconnected, this, OpalLinkConfigurationWindow::_linkDisconnected);
     this->show();
 }
 

src/ui/QGCMAVLinkLogPlayer.cc

@@ -43,10 +43,6 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     connect(ui->positionSlider, &QSlider::valueChanged, this, &QGCMAVLinkLogPlayer::jumpToSliderVal);
     connect(ui->positionSlider, &QSlider::sliderPressed, this, &QGCMAVLinkLogPlayer::pause);
     
-    // We use this to queue the signal over to mavlink. This way it will be behind any remaining
-    // bytesReady signals in the queue.
-    connect(this, &QGCMAVLinkLogPlayer::suspendLogForReplay, mavlink, &MAVLinkProtocol::suspendLogForReplay);
-
     setAccelerationFactorInt(49);
     ui->speedSlider->setValue(49);
     updatePositionSliderUi(0.0);
@@ -84,7 +80,7 @@ void QGCMAVLinkLogPlayer::play()
     Q_ASSERT(logFile.isOpen());
     
     LinkManager::instance()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
-    emit suspendLogForReplay(true);
+    mavlink->suspendLogForReplay(true);
     
     // Disable the log file selector button
     ui->selectFileButton->setEnabled(false);
@@ -122,7 +118,7 @@ void QGCMAVLinkLogPlayer::play()
 void QGCMAVLinkLogPlayer::pause()
 {
     LinkManager::instance()->setConnectionsAllowed();
-    emit suspendLogForReplay(false);
+    mavlink->suspendLogForReplay(false);
 
     loopTimer.stop();
     isPlaying = false;
@@ -642,7 +638,7 @@ void QGCMAVLinkLogPlayer::_finishPlayback(void)
     
     emit logFileEndReached();
     
-    emit suspendLogForReplay(false);
+    mavlink->suspendLogForReplay(false);
     LinkManager::instance()->setConnectionsAllowed();
 }
 

src/ui/QGCMAVLinkLogPlayer.h

@@ -59,9 +59,6 @@ signals:
     /** @brief Send ready bytes */
     void bytesReady(LinkInterface* link, const QByteArray& bytes);
     void logFileEndReached();
-    
-    /// @brief Connected to the MAVLinkProtocol::suspendLogForReplay
-    void suspendLogForReplay(bool suspend);
 
 protected:
     quint64 playbackStartTime;     ///< The time when the logfile was first played back. This is used to pace out replaying the messages to fix long-term drift/skew. 0 indicates that the player hasn't initiated playback of this log file. In units of milliseconds since epoch UTC.

src/ui/SettingsDialog.cc

@@ -52,7 +52,7 @@ _ui(new Ui::SettingsDialog)
     // Add the joystick settings pane
     _ui->tabWidget->addTab(new JoystickWidget(joystick, this), "Controllers");
     
-    MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(LinkManager::instance()->mavlink(), this);
+    MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(MAVLinkProtocol::instance(), this);
     _ui->tabWidget->addTab(msettings, "MAVLink");
     
     this->window()->setWindowTitle(tr("QGroundControl Settings"));

src/ui/uas/UASControlWidget.cc

@@ -59,23 +59,19 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
 void UASControlWidget::updateModesList()
 {
-    // Detect autopilot type
-    int autopilot = MAV_AUTOPILOT_GENERIC;
-    if (this->uasID >= 0) {
-        UASInterface *uas = UASManager::instance()->getUASForId(this->uasID);
-        if (uas) {
-            autopilot = UASManager::instance()->getUASForId(this->uasID)->getAutopilotType();
-        }
+    if (this->uasID == 0) {
+        return;
     }
     
-    AutoPilotPlugin* autopilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(autopilot);
+    UASInterface*uas = UASManager::instance()->getUASForId(this->uasID);
+    Q_ASSERT(uas);
     
-    _modeList = autopilotPlugin->getModes();
+    _modeList = AutoPilotPluginManager::instance()->getModes(uas->getAutopilotType());
 
     // Set combobox items
     ui.modeComboBox->clear();
-    foreach (AutoPilotPlugin::FullMode_t fullMode, _modeList) {
-        ui.modeComboBox->addItem(UAS::getShortModeTextFor(fullMode.baseMode, fullMode.customMode, autopilot).remove(0, 2));
+    foreach (AutoPilotPluginManager::FullMode_t fullMode, _modeList) {
+        ui.modeComboBox->addItem(uas->getShortModeTextFor(fullMode.baseMode, fullMode.customMode).remove(0, 2));
     }
 
     // Select first mode in list
@@ -197,7 +193,7 @@ void UASControlWidget::transmitMode()
     UASInterface* uas_iface = UASManager::instance()->getUASForId(this->uasID);
     if (uas_iface) {
         if (modeIdx >= 0 && modeIdx < _modeList.count()) {
-            AutoPilotPlugin::FullMode_t fullMode = _modeList[modeIdx];
+            AutoPilotPluginManager::FullMode_t fullMode = _modeList[modeIdx];
             // include armed state
             if (armed) {
                 fullMode.baseMode |= MAV_MODE_FLAG_SAFETY_ARMED;

src/ui/uas/UASControlWidget.h

@@ -38,7 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QPushButton>
 #include <ui_UASControl.h>
 #include <UASInterface.h>
-#include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 
 /**
  * @brief Widget controlling one MAV
@@ -79,7 +79,7 @@ protected slots:
 
 protected:
     int uasID;                                      ///< Reference to the current uas
-    QList<AutoPilotPlugin::FullMode_t>  _modeList;  ///< Mode list for the current UAS
+    QList<AutoPilotPluginManager::FullMode_t> _modeList;  ///< Mode list for the current UAS
     int modeIdx;                                    ///< Current uas mode index
     bool armed;                                     ///< Engine state
 

src/ui/uas/UASListWidget.cc

@@ -124,7 +124,7 @@ void UASListWidget::updateStatus()
         if (!link)
             continue;
 
-        MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+        MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
 
         // Build the tooltip out of the protocol parsing data: received, dropped, and parsing errors.
         QString displayString("");
@@ -167,10 +167,10 @@ void UASListWidget::addUAS(UASInterface* uas)
     if (!uasViews.contains(uas))
     {
         // Only display the UAS in a single link.
-        QList<LinkInterface*>* x = uas->getLinks();
-        if (x->size())
+        QList<LinkInterface*> x = uas->getLinks();
+        if (x.size())
         {
-            LinkInterface* li = x->first();
+            LinkInterface* li = x.first();
 
             // Find an existing QGroupBox for this LinkInterface or create a
             // new one.