Merge pull request #1150 from DonLakeFlyer/Connect

Rework Connect toolbar button usage

src/QGCApplication.cc

@@ -254,8 +254,6 @@ bool QGCApplication::_initForNormalAppBoot(void)
     
     _createSingletons();
     
-    enum MainWindow::CUSTOM_MODE mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_PX4).toInt();
-    
     // Show splash screen
     QPixmap splashImage(":/files/images/splash.png");
     QSplashScreen* splashScreen = new QSplashScreen(splashImage);
@@ -270,7 +268,7 @@ bool QGCApplication::_initForNormalAppBoot(void)
 
     // Start the user interface
     splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    MainWindow* mainWindow = MainWindow::_create(splashScreen, mode);
+    MainWindow* mainWindow = MainWindow::_create(splashScreen);
     Q_CHECK_PTR(mainWindow);
     
     // If we made it this far and we still don't have a location. Either the specfied location was invalid
@@ -283,47 +281,10 @@ bool QGCApplication::_initForNormalAppBoot(void)
         mainWindow->showSettings();
     }
     
-    UDPLink* udpLink = NULL;
-    
-    if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_WIFI)
-    {
-        // Connect links
-        // to make sure that all components are initialized when the
-        // first messages arrive
-        udpLink = new UDPLink(QHostAddress::Any, 14550);
-        LinkManager::instance()->addLink(udpLink);
-    } else {
-        // We want to have a default serial link available for "quick" connecting.
-        SerialLink *slink = new SerialLink();
-        LinkManager::instance()->addLink(slink);
-    }
-    
-#ifdef QGC_RTLAB_ENABLED
-    // Add OpalRT Link, but do not connect
-    OpalLink* opalLink = new OpalLink();
-    _mainWindow->addLink(opalLink);
-#endif
-    
     // Remove splash screen
     splashScreen->finish(mainWindow);
     mainWindow->splashScreenFinished();
 
-    
-    // Check if link could be connected
-    if (udpLink && LinkManager::instance()->connectLink(udpLink))
-    {
-        QMessageBox::StandardButton button = QGCMessageBox::critical(tr("Could not connect UDP port. Is an instance of %1 already running?").arg(qAppName()),
-                                                                     tr("It is recommended to close the application and stop all instances. Click Yes to close."),
-                                                                     QMessageBox::Yes | QMessageBox::No,
-                                                                     QMessageBox::No);
-        // Exit application
-        if (button == QMessageBox::Yes)
-        {
-            //mainWindow->close();
-            QTimer::singleShot(200, mainWindow, SLOT(close()));
-        }
-    }
-    
     // Now that main window is upcheck for lost log files
     connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
     emit checkForLostLogFiles();

src/comm/LinkManager.cc

@@ -84,6 +84,9 @@ void LinkManager::addLink(LinkInterface* link)
     connect(link, &LinkInterface::connected, mavlink, &MAVLinkProtocol::linkConnected);
     connect(link, &LinkInterface::disconnected, mavlink, &MAVLinkProtocol::linkDisconnected);
     mavlink->resetMetadataForLink(link);
+    
+    connect(link, &LinkInterface::connected, this, &LinkManager::_linkConnected);
+    connect(link, &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 }
 
 bool LinkManager::connectAll()
@@ -131,13 +134,22 @@ bool LinkManager::connectLink(LinkInterface* link)
         return false;
     }
 
-    return link->_connect();
+    if (link->_connect()) {
+        return true;
+    } else {
+        return false;
+    }
 }
 
 bool LinkManager::disconnectLink(LinkInterface* link)
 {
     Q_ASSERT(link);
-    return link->_disconnect();
+    
+    if (link->_disconnect()) {
+        return true;
+    } else {
+        return false;
+    }
 }
 
 void LinkManager::deleteLink(LinkInterface* link)
@@ -218,3 +230,13 @@ void LinkManager::_shutdown(void)
         deleteLink(link);
     }
 }
+
+void LinkManager::_linkConnected(void)
+{
+    emit linkConnected((LinkInterface*)sender());
+}
+
+void LinkManager::_linkDisconnected(void)
+{
+    emit linkDisconnected((LinkInterface*)sender());
+}

src/comm/LinkManager.h

@@ -91,6 +91,12 @@ public:
 signals:
     void newLink(LinkInterface* link);
     void linkDeleted(LinkInterface* link);
+    void linkConnected(LinkInterface* link);
+    void linkDisconnected(LinkInterface* link);
+    
+private slots:
+    void _linkConnected(void);
+    void _linkDisconnected(void);
     
 private:
     /// All access to LinkManager is through LinkManager::instance

src/comm/UDPLink.cc

@@ -277,16 +277,15 @@ bool UDPLink::_disconnect(void)
 	this->quit();
 	this->wait();
 
-        if(socket)
-	{
+    if (socket) {
 		// Make sure delete happen on correct thread
 		socket->deleteLater();
 		socket = NULL;
+        emit disconnected();
 	}
 
     connectState = false;
 
-    emit disconnected();
     return !connectState;
 }
 

src/qgcunittest/MainWindowTest.cc

@@ -42,7 +42,7 @@ void MainWindowTest::init(void)
 {
     UnitTest::init();
 
-    _mainWindow = MainWindow::_create(NULL, MainWindow::CUSTOM_MODE_PX4);
+    _mainWindow = MainWindow::_create(NULL);
     Q_CHECK_PTR(_mainWindow);
 }
 

src/ui/CommConfigurationWindow.cc

@@ -368,7 +368,6 @@ void CommConfigurationWindow::remove()
     action=NULL;
 
     if(link) {
-        LinkManager::instance()->disconnectLink(link);  // disconnect connection
         link->deleteLater();
     }
     link=NULL;

src/ui/MainWindow.cc

@@ -80,11 +80,11 @@ This file is part of the QGROUNDCONTROL project
 
 static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
 
-MainWindow* MainWindow::_create(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode)
+MainWindow* MainWindow::_create(QSplashScreen* splashScreen)
 {
     Q_ASSERT(_instance == NULL);
     
-    new MainWindow(splashScreen, mode);
+    new MainWindow(splashScreen);
     
     // _instance is set in constructor
     Q_ASSERT(_instance);
@@ -105,13 +105,12 @@ void MainWindow::deleteInstance(void)
 /// @brief Private constructor for MainWindow. MainWindow singleton is only ever created
 ///         by MainWindow::_create method. Hence no other code should have access to
 ///         constructor.
-MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode) :
+MainWindow::MainWindow(QSplashScreen* splashScreen) :
     currentView(VIEW_FLIGHT),
     centerStackActionGroup(new QActionGroup(this)),
     autoReconnect(false),
     simulationLink(NULL),
     lowPowerMode(false),
-    customMode(mode),
     menuActionHelper(new MenuActionHelper()),
     _splashScreen(splashScreen)
 {
@@ -405,10 +404,10 @@ QString MainWindow::getWindowStateKey()
 {
     if (UASManager::instance()->getActiveUAS())
     {
-        return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode()) + "_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
+        return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
     }
     else
-        return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode());
+        return QString::number(currentView)+"_windowstate_";
 }
 
 QString MainWindow::getWindowGeometryKey()
@@ -938,8 +937,6 @@ void MainWindow::loadSettings()
 {
     QSettings settings;
 
-    customMode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt());
-
     settings.beginGroup("QGC_MAINWINDOW");
     autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
     lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
@@ -953,8 +950,6 @@ void MainWindow::storeSettings()
 {
     QSettings settings;
 
-    settings.setValue("QGC_CUSTOM_MODE", (int)customMode);
-
     settings.beginGroup("QGC_MAINWINDOW");
     settings.setValue("AUTO_RECONNECT", autoReconnect);
     settings.setValue("LOW_POWER_MODE", lowPowerMode);

src/ui/MainWindow.h

@@ -88,14 +88,6 @@ class MainWindow : public QMainWindow
     Q_OBJECT
 
 public:
-
-    enum CUSTOM_MODE {
-        CUSTOM_MODE_UNCHANGED = 0,
-        CUSTOM_MODE_NONE,
-        CUSTOM_MODE_PX4,
-        CUSTOM_MODE_WIFI
-    };
-
     /// @brief Returns the MainWindow singleton. Will not create the MainWindow if it has not already
     ///         been created.
     static MainWindow* instance(void);
@@ -104,7 +96,7 @@ public:
     void deleteInstance(void);
     
     /// @brief Creates the MainWindow singleton. Should only be called once by QGCApplication.
-    static MainWindow* _create(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode);
+    static MainWindow* _create(QSplashScreen* splashScreen);
     
     /// @brief Called to indicate that splash screen is no longer being displayed.
     void splashScreenFinished(void) { _splashScreen = NULL; }
@@ -127,19 +119,6 @@ public:
         return lowPowerMode;
     }
 
-    void setCustomMode(MainWindow::CUSTOM_MODE mode)
-    {
-        if (mode != CUSTOM_MODE_UNCHANGED)
-        {
-            customMode = mode;
-        }
-    }
-
-    MainWindow::CUSTOM_MODE getCustomMode() const
-    {
-        return customMode;
-    }
-
     QList<QAction*> listLinkMenuActions();
     
     void hideSplashScreen(void);
@@ -420,14 +399,13 @@ protected:
     bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
     QGCFlightGearLink* fgLink;
     QTimer windowNameUpdateTimer;
-    CUSTOM_MODE customMode;
     
 private slots:
     void _addLinkMenu(LinkInterface* link);
 
 private:
     /// Constructor is private since all creation should be through MainWindow::_create
-    MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode);
+    MainWindow(QSplashScreen* splashScreen);
     
     void _openUrl(const QString& url, const QString& errorMessage);
     

src/ui/QGCToolBar.cc

@@ -24,43 +24,41 @@ This file is part of the QGROUNDCONTROL project
 #include <QToolButton>
 #include <QLabel>
 #include <QSpacerItem>
+#include <QSerialPortInfo>
+
 #include "SerialLink.h"
+#include "UDPLink.h"
 #include "QGCToolBar.h"
 #include "UASManager.h"
 #include "MainWindow.h"
 #include "QGCApplication.h"
+#include "CommConfigurationWindow.h"
 
 QGCToolBar::QGCToolBar(QWidget *parent) :
     QToolBar(parent),
     mav(NULL),
-    userBaudChoice(false),
-    userPortChoice(false),
     changed(true),
     batteryPercent(0),
     batteryVoltage(0),
     wpId(0),
     wpDistance(0),
-    altitudeMSL(0),
     altitudeRel(0),
     systemArmed(false),
     currentLink(NULL),
-    firstAction(NULL)
+    firstAction(NULL),
+    _linkMgr(LinkManager::instance()),
+    _linkCombo(NULL),
+    _linkComboAction(NULL),
+    _linkSelectedOnce(false),
+    _baudCombo(NULL),
+    _baudComboAction(NULL),
+    _linksConnected(false)
 {
     setObjectName("QGCToolBar");
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
 
-    // Do not load UI, wait for actions
-}
-
-void QGCToolBar::globalPositionChanged(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec)
-{
-    Q_UNUSED(uas);
-    Q_UNUSED(lat);
-    Q_UNUSED(lon);
-    Q_UNUSED(altWGS84);
-    Q_UNUSED(usec);
-    altitudeMSL = altAMSL;
-    changed = true;
+    connect(LinkManager::instance(), &LinkManager::linkConnected, this, &QGCToolBar::_linkConnected);
+    connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &QGCToolBar::_linkDisconnected);
 }
 
 void QGCToolBar::heartbeatTimeout(bool timeout, unsigned int ms)
@@ -163,36 +161,36 @@ void QGCToolBar::createUI()
     spacer->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
     addWidget(spacer);
 
-    portComboBox = new QComboBox(this);
-    portComboBox->setToolTip(tr("Choose the COM port to use"));
-    portComboBox->setEnabled(true);
-    portComboBox->setMinimumWidth(100);
-    toolBarPortAction = addWidget(portComboBox);
-
-    baudcomboBox = new QComboBox(this);
-    baudcomboBox->setToolTip(tr("Choose what baud rate to use"));
-    baudcomboBox->setEnabled(true);
-    baudcomboBox->setMinimumWidth(40);
-    baudcomboBox->addItem("9600", 9600);
-    baudcomboBox->addItem("14400", 14400);
-    baudcomboBox->addItem("19200", 19200);
-    baudcomboBox->addItem("38400", 38400);
-    baudcomboBox->addItem("57600", 57600);
-    baudcomboBox->addItem("115200", 115200);
-    baudcomboBox->addItem("230400", 230400);
-    baudcomboBox->addItem("460800", 460800);
-    baudcomboBox->addItem("921600", 921600);
-    baudcomboBox->setCurrentIndex(baudcomboBox->findData(57600));
-    toolBarBaudAction = addWidget(baudcomboBox);
-    connect(baudcomboBox, SIGNAL(activated(int)), this, SLOT(baudSelected(int)));
-    connect(portComboBox, SIGNAL(activated(int)), this, SLOT(portSelected(int)));
-
-    connectButton = new QPushButton(tr("Connect"), this);
-    connectButton->setObjectName("connectButton");
-    connectButton->setToolTip(tr("Connect wireless link to MAV"));
-    connectButton->setCheckable(true);
-    addWidget(connectButton);
-    connect(connectButton, SIGNAL(clicked(bool)), this, SLOT(connectLink(bool)));
+    _linkCombo = new QComboBox(this);
+    _linkCombo->addItem("UDP");
+    connect(_linkCombo, SIGNAL(activated(int)), SLOT(_linkComboActivated(int)));
+    
+    _linkCombo->setToolTip(tr("Choose the link to use"));
+    _linkCombo->setEnabled(true);
+    _linkCombo->setMinimumWidth(100);
+    
+    _linkComboAction = addWidget(_linkCombo);
+
+    _baudCombo = new QComboBox(this);
+    _baudCombo->setToolTip(tr("Choose what baud rate to use"));
+    _baudCombo->setEnabled(true);
+    _baudCombo->setMinimumWidth(40);
+    _baudCombo->addItem("9600", 9600);
+    _baudCombo->addItem("14400", 14400);
+    _baudCombo->addItem("19200", 19200);
+    _baudCombo->addItem("38400", 38400);
+    _baudCombo->addItem("57600", 57600);
+    _baudCombo->addItem("115200", 115200);
+    _baudCombo->addItem("230400", 230400);
+    _baudCombo->addItem("460800", 460800);
+    _baudCombo->addItem("921600", 921600);
+    _baudCombo->setCurrentIndex(_baudCombo->findData(57600));
+    _baudComboAction = addWidget(_baudCombo);
+
+    _connectButton = new QPushButton(tr("Connect"), this);
+    _connectButton->setObjectName("connectButton");
+    addWidget(_connectButton);
+    connect(_connectButton, &QPushButton::clicked, this, &QGCToolBar::_connectButtonClicked);
 
     resetToolbarUI();
 
@@ -204,28 +202,9 @@ void QGCToolBar::createUI()
     // Configure the toolbar for the current default UAS
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    // Update label if required
-    if (LinkManager::instance()->getSerialLinks().count() < 1) {
-        connectButton->setText(tr("New Serial Link"));
-        toolBarPortAction->setVisible(false);
-        toolBarBaudAction->setVisible(false);
-    } else {
-
-        QList<SerialLink*> links = LinkManager::instance()->getSerialLinks();
 
-        foreach(SerialLink* slink, links)
-        {
-            addLink(slink);
-        }
-    }
-
-    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
-    connect(LinkManager::instance(), SIGNAL(linkDeleted(LinkInterface*)), this, SLOT(removeLink(LinkInterface*)));
-
-    loadSettings();
-
-    connect(&portBoxTimer, SIGNAL(timeout()), this, SLOT(updateComboBox()));
-    portBoxTimer.start(500);
+    connect(&_portListTimer, &QTimer::timeout, this, &QGCToolBar::_updatePortList);
+    _portListTimer.start(500);
 
     toolBarMessageAction->setVisible(false);
     toolBarBatteryBarAction->setVisible(false);
@@ -259,18 +238,6 @@ void QGCToolBar::resetToolbarUI()
     toolBarBatteryBarAction->setVisible(false);
 }
 
-void QGCToolBar::baudSelected(int index)
-{
-    Q_UNUSED(index);
-    userBaudChoice = true;
-}
-
-void QGCToolBar::portSelected(int index)
-{
-    Q_UNUSED(index);
-    userPortChoice = true;
-}
-
 void QGCToolBar::setPerspectiveChangeActions(const QList<QAction*> &actions)
 {
     if (actions.count() > 1)
@@ -372,7 +339,6 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(batteryChanged(UASInterface*, double, double, double,int)), this, SLOT(updateBatteryRemaining(UASInterface*, double, double, double, int)));
         disconnect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         disconnect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
-        disconnect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,double,quint64)));
         if (mav->getWaypointManager())
         {
             disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -397,7 +363,6 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
         connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,double,int)));
         connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
         connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
-        connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,double,quint64)));
         if (mav->getWaypointManager())
         {
             connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
@@ -636,175 +601,135 @@ void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QS
     lastSystemMessageTimeMs = QGC::groundTimeMilliseconds();
 }
 
-void QGCToolBar::addLink(LinkInterface* link)
+void QGCToolBar::_updatePortList(void)
 {
-    // Accept only serial links as current link
-    SerialLink* serial = qobject_cast<SerialLink*>(link);
-
-    if (serial && !currentLink)
-    {
-        toolBarPortAction->setVisible(true);
-        toolBarBaudAction->setVisible(true);
-
-        currentLink = link;
-        connect(currentLink, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
-        _updateLinkState(link->isConnected());
+    if (!_linkCombo->isVisible()) {
+        return;
+    }
 
-        qDebug() << "ADD LINK";
+    QList<QSerialPortInfo> portList = QSerialPortInfo::availablePorts();
     
-        updateComboBox();
+    foreach (QSerialPortInfo portInfo, portList) {
+        if (_linkCombo->findText(portInfo.portName()) == -1) {
+            _linkCombo->addItem(portInfo.portName());
+            if (!_linkSelectedOnce && portInfo.vendorIdentifier() == 9900) {
+                // Pre-Select 3DR connection
+                _linkSelectedOnce = true;
+                _linkCombo->setCurrentIndex(_linkCombo->findText(portInfo.portName()));
+            }
+        }
     }
 }
 
-void QGCToolBar::removeLink(LinkInterface* link)
+void QGCToolBar::_linkConnected(LinkInterface* link)
 {
-    if (link == currentLink) {
-        currentLink = NULL;
-
-        // Try to get a new serial link
-        foreach (SerialLink* s, LinkManager::instance()->getSerialLinks())
-        {
-            addLink(s);
-        }
+    Q_UNUSED(link);
+    _updateConnectButton();
+}
 
-        // Update GUI according to scan result
-        if (currentLink) {
-            _updateLinkState(currentLink->isConnected());
-        } else {
-            connectButton->setText(tr("New Serial Link"));
-            portComboBox->hide();
-            baudcomboBox->hide();
-        }
-    }
-    updateComboBox();
+void QGCToolBar::_linkDisconnected(LinkInterface* link)
+{
+    Q_UNUSED(link);
+    _updateConnectButton();
 }
-void QGCToolBar::updateComboBox()
+
+void QGCToolBar::_updateConnectButton(void)
 {
-    if (currentLink && !currentLink->isConnected())
-    {
-        // Do not update if not visible
-        if (!portComboBox->isVisible())
-            return;
+    QMenu* menu = new QMenu(this);
     
-        SerialLink *slink = qobject_cast<SerialLink*>(currentLink);
-        QList<QString> portlist = slink->getCurrentPorts();
-        foreach (QString port, portlist)
-        {
-            if (portComboBox->findText(port) == -1)
-            {
-                portComboBox->addItem(port, port);
-            }
-        }
+    // If there are multiple connected links add/update the connect button menu
     
-        if (!userPortChoice) {
-            if (slink->getPortName().trimmed().length() > 0)
-            {
-                int portIndex = portComboBox->findData(slink->getPortName());
-                if (portIndex >= 0) {
-                    portComboBox->setCurrentIndex(portIndex);
-                    portComboBox->setEditText(slink->getPortName());
-                }
-            }
-            else
-            {
-                if (portlist.length() > 0)
-                {
-                    portComboBox->setEditText(portlist.last());
-                }
-                else
-                {
-                    portComboBox->setEditText(tr("No serial port found"));
-                }
+    int connectedCount = 0;
+    QList<LinkInterface*> links = _linkMgr->getLinks();
+    foreach(LinkInterface* link, links) {
+        if (link->isConnected()) {
+            connectedCount++;
+            QAction* action = menu->addAction(link->getName());
+            action->setData(QVariant::fromValue((void*)link));
+            connect(action, &QAction::triggered, this, &QGCToolBar::_disconnectFromMenu);
         }
     }
     
-        if (!userBaudChoice) {
-            int index = baudcomboBox->findData(slink->getBaudRate());
-            if (index >= 0)
-                baudcomboBox->setCurrentIndex(index);
+    // Remove old menu
+    QMenu* oldMenu = _connectButton->menu();
+    _connectButton->setMenu(NULL);
+    if (oldMenu) {
+        oldMenu->deleteLater();
     }
+    
+    // Add new menu if needed
+    if (connectedCount > 1) {
+        _connectButton->setMenu(menu);
+    } else {
+        delete menu;
     }
-}
     
-void QGCToolBar::_linkConnected(void)
-{
-    _updateLinkState(true);
-}
+    _linksConnected = connectedCount != 0;
     
-void QGCToolBar::_linkDisconnected(void)
-{
-    _updateLinkState(false);
-}
+    _connectButton->setText(_linksConnected ? tr("Disconnect") : tr("Connect"));
 
-void QGCToolBar::_updateLinkState(bool connected)
-{
-    Q_UNUSED(connected);
-    if (currentLink && currentLink->isConnected() && portComboBox->isVisible())
-    {
-        connectButton->setText(tr("Disconnect"));
-        connectButton->blockSignals(true);
-        connectButton->setChecked(true);
-        connectButton->blockSignals(false);
-        toolBarPortAction->setVisible(false);
-        toolBarBaudAction->setVisible(false);
-        toolBarMessageAction->setVisible(true);
-        toolBarWpAction->setVisible(true);
-    }
-    else
-    {
-        connectButton->setText(tr("Connect"));
-        connectButton->blockSignals(true);
-        connectButton->setChecked(false);
-        connectButton->blockSignals(false);
-        toolBarPortAction->setVisible(true);
-        toolBarBaudAction->setVisible(true);
-        toolBarMessageAction->setVisible(false);
-        toolBarWpAction->setVisible(false);
-    }
+    _linkComboAction->setVisible(!_linksConnected);
+    _baudComboAction->setVisible(!_linksConnected);
+    toolBarMessageAction->setVisible(_linksConnected);
+    toolBarWpAction->setVisible(_linksConnected);
 }
 
-void QGCToolBar::connectLink(bool connectLink)
+void QGCToolBar::_connectButtonClicked(bool checked)
 {
-    LinkManager* linkMgr = LinkManager::instance();
-    Q_ASSERT(linkMgr);
+    Q_UNUSED(checked);
     
-    // No serial port yet present
-    if (connectLink && linkMgr->getSerialLinks().count() == 0) {
-        MainWindow::instance()->addLink();
-        currentLink = linkMgr->getLinks().last();
-    } else if (connectLink) {
-        SerialLink *link = qobject_cast<SerialLink*>(currentLink);
+    if (_linksConnected) {
+        // Disconnect
         
-        if (link) {
-            link->setPortName(portComboBox->itemData(portComboBox->currentIndex()).toString().trimmed());
-            int baud = baudcomboBox->currentText().toInt();
-            link->setBaudRate(baud);
-            connect(link, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
-            linkMgr->connectLink(link);
+        // Should be just one connected link, disconnect it
+        
+        int connectedCount = 0;
+        LinkInterface* connectedLink = NULL;
+        QList<LinkInterface*> links = _linkMgr->getLinks();
+        foreach(LinkInterface* link, links) {
+            if (link->isConnected()) {
+                connectedCount++;
+                connectedLink = link;
             }
-    } else if (!connectLink && currentLink) {
-        linkMgr->disconnectLink(currentLink);
-        disconnect(currentLink, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
         }
+        Q_ASSERT(connectedCount == 1);
+        Q_ASSERT(connectedLink);
         
-    if (currentLink) {
-        _updateLinkState(currentLink->isConnected());
-    }
-}
+        _linkMgr->disconnectLink(connectedLink);
+    } else {
+        // Connect
         
+        QString linkName = _linkCombo->currentText();
         
-void QGCToolBar::loadSettings()
-{
-    QSettings settings;
-    settings.beginGroup("QGC_TOOLBAR");
-    settings.endGroup();
+        if (linkName == "UDP") {
+            UDPLink* link = new UDPLink;
+            Q_CHECK_PTR(link);
+            
+            _linkMgr->addLink(link);
+            CommConfigurationWindow* commDialog = new CommConfigurationWindow(link, this);
+            commDialog->exec();
+        } else {
+            // Must be a serial port
+            SerialLink* link = new SerialLink(linkName, _baudCombo->currentText().toInt());
+            Q_CHECK_PTR(link);
+            
+            _linkMgr->addLink(link);
+            _linkMgr->connectLink(link);
+        }
+    }
 }
 
-void QGCToolBar::storeSettings()
+void QGCToolBar::_disconnectFromMenu(bool checked)
 {
-    QSettings settings;
-    settings.beginGroup("QGC_TOOLBAR");
-    settings.endGroup();
+    Q_UNUSED(checked);
+    
+    QAction* action = qobject_cast<QAction*>(sender());
+    Q_ASSERT(action);
+    
+    LinkInterface* link = (LinkInterface*)(action->data().value<void *>());
+    Q_ASSERT(link);
+    
+    _linkMgr->disconnectLink(link);
 }
 
 void QGCToolBar::clearStatusString()
@@ -816,7 +741,9 @@ void QGCToolBar::clearStatusString()
     }
 }
 
-QGCToolBar::~QGCToolBar()
+void QGCToolBar::_linkComboActivated(int index)
 {
-    storeSettings();
+    Q_UNUSED(index);
+    
+    _linkSelectedOnce = true;
 }

src/ui/QGCToolBar.h

@@ -32,8 +32,10 @@ This file is part of the QGROUNDCONTROL project
 #include <QProgressBar>
 #include <QComboBox>
 #include <QTimer>
+
 #include "UASInterface.h"
 #include "SerialLink.h"
+#include "LinkManager.h"
 
 class QGCToolBar : public QToolBar
 {
@@ -43,15 +45,10 @@ public:
     explicit QGCToolBar(QWidget* parent = 0);
     void setPerspectiveChangeActions(const QList<QAction*> &action);
     void setPerspectiveChangeAdvancedActions(const QList<QAction*> &action);
-    ~QGCToolBar();
 
 public slots:
     /** @brief Set the system that is currently displayed by this widget */
     void setActiveUAS(UASInterface* active);
-    /** @brief Set the link which is currently handled with connecting / disconnecting */
-    void addLink(LinkInterface* link);
-    /** @brief Remove link which is currently handled */
-    void removeLink(LinkInterface* link);
     /** @brief Set the system state */
     void updateState(UASInterface* system, QString name, QString description);
     /** @brief Set the system mode */
@@ -74,31 +71,12 @@ public slots:
     void updateView();
     /** @brief Update connection timeout time */
     void heartbeatTimeout(bool timeout, unsigned int ms);
-    /** @brief Update global position */
-    void globalPositionChanged(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
-    /** @brief Create or connect link */
-    void connectLink(bool connect);
     /** @brief Clear status string */
     void clearStatusString();
     /** @brief Set an activity action as checked in menu */
     void advancedActivityTriggered(QAction* action);
-    void updateComboBox();
-
-    /**
-     * @brief User selected baud rate
-     * @param index The current index of the combo box
-     */
-    void baudSelected(int index);
-
-    /**
-     * @brief User selected port
-     * @param index The current index of the combo box
-     */
-    void portSelected(int index);
 
 protected:
-    void storeSettings();
-    void loadSettings();
     void createUI();
     void resetToolbarUI();
     UASInterface* mav;
@@ -107,8 +85,6 @@ protected:
     QLabel* toolBarTimeoutLabel;
     QAction* toolBarTimeoutAction; ///< Needed to set label (in)visible.
     QAction* toolBarMessageAction;
-    QAction* toolBarPortAction;
-    QAction* toolBarBaudAction;
     QAction* toolBarWpAction;
     QAction* toolBarBatteryBarAction;
     QAction* toolBarBatteryVoltageAction;
@@ -117,21 +93,14 @@ protected:
     QLabel* toolBarStateLabel;
     QLabel* toolBarWpLabel;
     QLabel* toolBarMessageLabel;
-    QPushButton* connectButton;
     QProgressBar* toolBarBatteryBar;
     QLabel* toolBarBatteryVoltageLabel;
 
-    QComboBox *portComboBox;
-    QComboBox *baudcomboBox;
-    QTimer portBoxTimer;
-    bool userBaudChoice;
-    bool userPortChoice;
     bool changed;
     float batteryPercent;
     float batteryVoltage;
     int wpId;
     double wpDistance;
-    float altitudeMSL;
     float altitudeRel;
     QString state;
     QString mode;
@@ -146,12 +115,28 @@ protected:
     QButtonGroup *group;
     
 private slots:
-    void _linkConnected(void);
-    void _linkDisconnected(void);
+    void _linkConnected(LinkInterface* link);
+    void _linkDisconnected(LinkInterface* link);
+    void _disconnectFromMenu(bool checked);
+    void _connectButtonClicked(bool checked);
+    void _linkComboActivated(int index);
     
 private:
-    /** @brief Update the link state */
-    void _updateLinkState(bool connected);
+    void _updateConnectButton(void);
+    void _updatePortList(void);
+    
+    LinkManager*    _linkMgr;
+    
+    QComboBox*  _linkCombo;
+    QAction*    _linkComboAction;
+    bool        _linkSelectedOnce;
+    QTimer      _portListTimer;
+    
+    QComboBox*  _baudCombo;
+    QAction*    _baudComboAction;
+    
+    QPushButton*    _connectButton;
+    bool            _linksConnected;
 };
 
 #endif // QGCTOOLBAR_H

src/ui/SettingsDialog.cc

@@ -76,15 +76,6 @@ _ui(new Ui::SettingsDialog)
     
     connect(_ui->deleteSettings, &QAbstractButton::toggled, this, &SettingsDialog::_deleteSettingsToggled);
     
-    // Custom mode
-    
-    _ui->customModeComboBox->addItem(tr("Default: Generic MAVLink and serial links"), MainWindow::CUSTOM_MODE_NONE);
-    _ui->customModeComboBox->addItem(tr("Wifi: Generic MAVLink, wifi or serial links"), MainWindow::CUSTOM_MODE_WIFI);
-    _ui->customModeComboBox->addItem(tr("PX4: Optimized for PX4 Autopilot Users"), MainWindow::CUSTOM_MODE_PX4);
-    
-    _ui->customModeComboBox->setCurrentIndex(_ui->customModeComboBox->findData(_mainWindow->getCustomMode()));
-    connect(_ui->customModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectCustomMode(int)));
-    
     // Application color style
     _ui->styleChooser->setCurrentIndex(qgcApp()->styleIsDark() ? 0 : 1);
     
@@ -107,11 +98,6 @@ void SettingsDialog::styleChanged(int index)
     qgcApp()->setStyle(index == 0);
 }
 
-void SettingsDialog::selectCustomMode(int mode)
-{
-    _mainWindow->setCustomMode(static_cast<enum MainWindow::CUSTOM_MODE>(_ui->customModeComboBox->itemData(mode).toInt()));
-}
-
 void SettingsDialog::_deleteSettingsToggled(bool checked)
 {
     if (checked){

src/ui/SettingsDialog.h

@@ -40,11 +40,10 @@ public:
     SettingsDialog(JoystickInput *joystick, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
     ~SettingsDialog();
     
-    public slots:
+public slots:
     void styleChanged(int index);
-    void selectCustomMode(int mode);
     
-    private slots:
+private slots:
     void _deleteSettingsToggled(bool checked);
     void _selectSavedFilesDirectory(void);
     void _validateBeforeClose(void);

src/ui/SettingsDialog.ui

@@ -80,9 +80,6 @@
         </widget>
        </item>
        <item>
-                                <widget class="QComboBox" name="customModeComboBox"/>
-                            </item>
-                            <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="title">
           <string>Style</string>