New toolbar dropdown support

- select active vehicle
- arm/disarm
- select flight mode

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -39,7 +39,6 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     Q_ASSERT(vehicle);
 	
 	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
-    connect(_vehicle->uas(), &UASInterface::armingChanged, this, &AutoPilotPlugin::armedChanged);
 
 	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
 }
@@ -176,8 +175,3 @@ QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 {
 	return _getParameterLoader()->readParametersFromStream(stream);
 }
-
-bool AutoPilotPlugin::armed(void)
-{
-    return _vehicle->uas()->isArmed();
-}

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -63,8 +63,6 @@ public:
 	/// false: One or more vehicle components require setup
 	Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
     
-    Q_PROPERTY(bool armed READ armed NOTIFY armedChanged)
-    
     /// Reset all parameters to their default values
     Q_INVOKABLE void resetAllParametersToDefaults(void);
 	
@@ -117,7 +115,6 @@ public:
 	// Property accessors
 	bool pluginReady(void) { return _pluginReady; }
 	bool setupComplete(void);
-    bool armed(void);
 	
     Vehicle* vehicle(void) { return _vehicle; }
     
@@ -125,7 +122,6 @@ signals:
     void pluginReadyChanged(bool pluginReady);
 	void setupCompleteChanged(bool setupComplete);
     void parameterListProgress(float value);
-    void armedChanged(bool armed);
 	
 protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -115,7 +115,6 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 {
     QString summaryQml;
     
-    qDebug() << _uas->getSystemType();
     if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
         _uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
         _uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -191,5 +191,5 @@ void PX4FirmwarePlugin::adjustMavlinkMessage(mavlink_message_t* message)
 
 bool PX4FirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
 {
-    return capabilities == MavCmdPreflightStorageCapability;
+    return capabilities && (MavCmdPreflightStorageCapability | SetFlightModeCapability);
 }

src/Joystick/Joystick.cc

@@ -42,7 +42,7 @@ QGC_LOGGING_CATEGORY(JoystickValuesLog, "JoystickValuesLog")
 
 const char* Joystick::_settingsGroup =              "Joysticks";
 const char* Joystick::_calibratedSettingsKey =      "Calibrated";
-const char* Joystick::_buttonActionSettingsKey =    "ButtonAction%1";
+const char* Joystick::_buttonActionSettingsKey =    "ButtonActionName%1";
 const char* Joystick::_throttleModeSettingsKey =    "ThrottleMode";
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
@@ -144,10 +144,8 @@ void Joystick::_loadSettings(void)
     }
     
     for (int button=0; button<_cButtons; button++) {
-        _rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), -1).toInt(&convertOk);
-        badSettings |= !convertOk;
-        
-        qCDebug(JoystickLog) << "_loadSettings button:action:badsettings" << button << _rgButtonActions[button] << badSettings;
+        _rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();        
+        qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
     }
     
     if (badSettings) {
@@ -322,10 +320,9 @@ void Joystick::run(void)
                         
                         if (buttonIndex >= reservedButtonCount) {
                             // Button is above firmware reserved set
-                            int buttonAction =_rgButtonActions[buttonIndex];
-                            if (buttonAction != -1) {
-                                qCDebug(JoystickLog) << "buttonActionTriggered" << buttonAction;
-                                emit buttonActionTriggered(buttonAction);
+                            QString buttonAction =_rgButtonActions[buttonIndex];
+                            if (!buttonAction.isEmpty()) {
+                                _buttonAction(buttonAction);
                             }
                         }
                     }
@@ -369,7 +366,8 @@ void Joystick::startPolling(Vehicle* vehicle)
         UAS* uas = _activeVehicle->uas();
         
         connect(this, &Joystick::manualControl,         uas, &UAS::setExternalControlSetpoint);
-        connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
+        // FIXME: ****
+        //connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
         
         _exitThread = false;
         start();
@@ -382,7 +380,8 @@ void Joystick::stopPolling(void)
         UAS* uas = _activeVehicle->uas();
         
         disconnect(this, &Joystick::manualControl,          uas, &UAS::setExternalControlSetpoint);
-        disconnect(this, &Joystick::buttonActionTriggered,  uas, &UAS::triggerAction);
+        // FIXME: ****
+        //disconnect(this, &Joystick::buttonActionTriggered,  uas, &UAS::triggerAction);
         
         _exitThread = true;
         }
@@ -435,27 +434,27 @@ int Joystick::getFunctionAxis(AxisFunction_t function)
 QStringList Joystick::actions(void)
 {
     QStringList list;
-    
-    foreach(QAction* action, MultiVehicleManager::instance()->activeVehicle()->uas()->getActions()) {
-        list += action->text();
-    }
+
+    list << "Arm" << "Disarm";
     
     return list;
 }
 
-void Joystick::setButtonAction(int button, int action)
+void Joystick::setButtonAction(int button, const QString& action)
 {
     if (button < 0 || button > _cButtons) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
         return;
     }
     
+    qDebug() << "setButtonAction" << action;
+    
     _rgButtonActions[button] = action;
     _saveSettings();
     emit buttonActionsChanged(buttonActions());
 }
 
-int Joystick::getButtonAction(int button)
+QString Joystick::getButtonAction(int button)
 {
     if (button < 0 || button > _cButtons) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
@@ -512,9 +511,6 @@ void Joystick::stopCalibrationMode(CalibrationMode_t mode)
     if (mode == CalibrationModeOff) {
         qWarning() << "Incorrect mode: CalibrationModeOff";
         return;
-    } else if (mode != _calibrationMode) {
-        qWarning() << "Incorrect mode sequence request:active" << mode << _calibrationMode;
-        return;
     }
     
     if (mode == CalibrationModeCalibrating) {
@@ -527,4 +523,15 @@ void Joystick::stopCalibrationMode(CalibrationMode_t mode)
     }
 }
 
+void Joystick::_buttonAction(const QString& action)
+{
+    if (action == "Arm") {
+        _activeVehicle->setArmed(true);
+    } else if (action == "Disarm") {
+        _activeVehicle->setArmed(false);
+    } else {
+        qCDebug(JoystickLog) << "_buttonAction unknown action:" << action;
+    }
+}
+
 #endif // __mobile__

src/Joystick/Joystick.h

@@ -73,8 +73,8 @@ public:
     Q_PROPERTY(QStringList actions READ actions CONSTANT)
     
     Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
-    Q_INVOKABLE void setButtonAction(int button, int action);
-    Q_INVOKABLE int getButtonAction(int button);
+    Q_INVOKABLE void setButtonAction(int button, const QString& action);
+    Q_INVOKABLE QString getButtonAction(int button);
     
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
     
@@ -135,6 +135,7 @@ private:
     void _saveSettings(void);
     void _loadSettings(void);
     float _adjustRange(int value, Calibration_t calibration);
+    void _buttonAction(const QString& action);
     
     // Override from QThread
     virtual void run(void);
@@ -158,7 +159,7 @@ private:
     
     static const int    _cButtons = 12;
     bool                _rgButtonValues[_cButtons];
-    int                 _rgButtonActions[_cButtons];
+    QString             _rgButtonActions[_cButtons];
     quint16             _lastButtonBits;
     
     ThrottleMode_t      _throttleMode;

src/QmlControls/QmlObjectListModel.cc

@@ -27,6 +27,7 @@
 #include "QmlObjectListModel.h"
 
 #include <QDebug>
+#include <QQmlEngine>
 
 const int QmlObjectListModel::ObjectRole = Qt::UserRole;
 const int QmlObjectListModel::TextRole = Qt::UserRole + 1;
@@ -156,6 +157,8 @@ void QmlObjectListModel::insert(int i, QObject* object)
         qWarning() << "Invalid index index:count" << i << _objectList.count();
     }
     
+    QQmlEngine::setObjectOwnership(object, QQmlEngine::CppOwnership);
+
     _objectList.insert(i, object);
     insertRows(i, 1);
 }

src/Vehicle/MultiVehicleManager.h

@@ -58,7 +58,7 @@ public:
     /// @return true: continue further processing of this message, false: disregard this message
     bool notifyHeartbeatInfo(LinkInterface* link, int vehicleId, mavlink_heartbeat_t& heartbeat);
     
-    Vehicle* getVehicleById(int vehicleId);
+    Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
     
     void setHomePositionForAllVehicles(double lat, double lon, double alt);
     

src/Vehicle/Vehicle.cc

@@ -78,7 +78,6 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     , _batteryVoltage(0.0)
     , _batteryPercent(0.0)
     , _batteryConsumed(-1.0)
-    , _systemArmed(false)
     , _currentHeartbeatTimeout(0)
     , _waypointDistance(0.0)
     , _currentWaypoint(0)
@@ -86,13 +85,18 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     , _satelliteLock(0)
     , _wpm(NULL)
     , _updateCount(0)
+    , _armed(false)
+    , _base_mode(0)
+    , _custom_mode(0)
 {
     _addLink(link);
     
-    connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
+    _mavlink = MAVLinkProtocol::instance();
+    
+    connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
     connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
     
-    _uas = new UAS(MAVLinkProtocol::instance(), this);
+    _uas = new UAS(_mavlink, this);
     
     setLatitude(_uas->getLatitude());
     setLongitude(_uas->getLongitude());
@@ -125,12 +129,10 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     connect(_mav, SIGNAL(altitudeChanged                    (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
     connect(_mav, SIGNAL(navigationControllerErrorsChanged  (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
     connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));
-    connect(_mav, SIGNAL(armingChanged                      (bool)),                                                    this, SLOT(_updateArmingState(bool)));
     connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
     connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
     connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
     connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
-    connect(_mav, &UASInterface::modeChanged,                       this, &Vehicle::_updateMode);
     connect(_mav, &UASInterface::nameChanged,                       this, &Vehicle::_updateName);
     connect(_mav, &UASInterface::systemTypeSet,                     this, &Vehicle::_setSystemType);
     connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
@@ -148,7 +150,6 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
         connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
     }
     _setSystemType(_mav, _mav->getSystemType());
-    _updateArmingState(_mav->isArmed());
     
     _waypointViewOnlyListChanged();
     
@@ -170,12 +171,10 @@ Vehicle::~Vehicle()
     disconnect(_mav, SIGNAL(altitudeChanged                     (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
     disconnect(_mav, SIGNAL(navigationControllerErrorsChanged   (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
     disconnect(_mav, SIGNAL(statusChanged                       (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*,QString,QString)));
-    disconnect(_mav, SIGNAL(armingChanged                       (bool)),                                                    this, SLOT(_updateArmingState(bool)));
     disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &Vehicle::_updateNavigationControllerData);
     disconnect(_mav, &UASInterface::heartbeatTimeout,                this, &Vehicle::_heartbeatTimeout);
     disconnect(_mav, &UASInterface::batteryChanged,                  this, &Vehicle::_updateBatteryRemaining);
     disconnect(_mav, &UASInterface::batteryConsumedChanged,          this, &Vehicle::_updateBatteryConsumedChanged);
-    disconnect(_mav, &UASInterface::modeChanged,                     this, &Vehicle::_updateMode);
     disconnect(_mav, &UASInterface::nameChanged,                     this, &Vehicle::_updateName);
     disconnect(_mav, &UASInterface::systemTypeSet,                   this, &Vehicle::_setSystemType);
     disconnect(_mav, &UASInterface::localizationChanged,             this, &Vehicle::_setSatLoc);
@@ -204,18 +203,13 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     // Give the plugin a change to adjust the message contents
     _firmwarePlugin->adjustMavlinkMessage(&message);
     
-    if (message.msgid == MAVLINK_MSG_ID_HOME_POSITION) {
-        mavlink_home_position_t homePos;
-        
-        mavlink_msg_home_position_decode(&message, &homePos);
-        
-        _homePosition.setLatitude(homePos.latitude / 10000000.0);
-        _homePosition.setLongitude(homePos.longitude / 10000000.0);
-        _homePosition.setAltitude(homePos.altitude / 1000.0);
-        _homePositionAvailable = true;
-        
-        emit homePositionAvailableChanged(true);
-        emit homePositionChanged(_homePosition);
+    switch (message.msgid) {
+        case MAVLINK_MSG_ID_HOME_POSITION:
+            _handleHomePosition(message);
+            break;
+        case MAVLINK_MSG_ID_HEARTBEAT:
+            _handleHeartbeat(message);
+            break;
     }
     
     emit mavlinkMessageReceived(message);
@@ -223,6 +217,41 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
+void Vehicle::_handleHomePosition(mavlink_message_t& message)
+{
+    mavlink_home_position_t homePos;
+    
+    mavlink_msg_home_position_decode(&message, &homePos);
+    
+    _homePosition.setLatitude(homePos.latitude / 10000000.0);
+    _homePosition.setLongitude(homePos.longitude / 10000000.0);
+    _homePosition.setAltitude(homePos.altitude / 1000.0);
+    _homePositionAvailable = true;
+    
+    emit homePositionAvailableChanged(true);
+    emit homePositionChanged(_homePosition);
+}
+
+void Vehicle::_handleHeartbeat(mavlink_message_t& message)
+{
+    mavlink_heartbeat_t heartbeat;
+    
+    mavlink_msg_heartbeat_decode(&message, &heartbeat);
+    
+    bool newArmed = heartbeat.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;
+    
+    if (_armed != newArmed) {
+        _armed = newArmed;
+        emit armedChanged(_armed);
+    }
+
+    if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
+        _base_mode = heartbeat.base_mode;
+        _custom_mode = heartbeat.custom_mode;
+        emit flightModeChanged(flightMode());
+    }
+}
+
 bool Vehicle::_containsLink(LinkInterface* link)
 {
     foreach (SharedLinkInterface sharedLink, _links) {
@@ -273,7 +302,7 @@ void Vehicle::_sendMessage(mavlink_message_t message)
         Q_ASSERT(link);
         
         if (link->isConnected()) {
-            MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+            MAVLinkProtocol* mavlink = _mavlink;
             
             // Give the plugin a chance to adjust
             _firmwarePlugin->adjustMavlinkMessage(&message);
@@ -542,14 +571,6 @@ QString Vehicle::getMavIconColor()
         return QString("black");
 }
 
-void Vehicle::_updateArmingState(bool armed)
-{
-    if(_systemArmed != armed) {
-        _systemArmed = armed;
-        emit systemArmedChanged();
-    }
-}
-
 void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
 {
     
@@ -586,19 +607,6 @@ void Vehicle::_updateState(UASInterface*, QString name, QString)
     }
 }
 
-void Vehicle::_updateMode(int, QString name, QString)
-{
-    if (name.size()) {
-        QString shortMode = name;
-        shortMode = shortMode.replace("D|", "");
-        shortMode = shortMode.replace("A|", "");
-        if (_currentMode != shortMode) {
-            _currentMode = shortMode;
-            emit currentModeChanged();
-        }
-    }
-}
-
 void Vehicle::_updateName(const QString& name)
 {
     if (_systemName != name) {
@@ -974,3 +982,79 @@ QGeoCoordinate Vehicle::homePosition(void)
     
     return _homePosition;
 }
+
+void Vehicle::setArmed(bool armed)
+{
+    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
+    
+    mavlink_message_t msg;
+    mavlink_command_long_t cmd;
+    
+    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
+    cmd.confirmation = 0;
+    cmd.param1 = armed ? 1.0f : 0.0f;
+    cmd.param2 = 0.0f;
+    cmd.param3 = 0.0f;
+    cmd.param4 = 0.0f;
+    cmd.param5 = 0.0f;
+    cmd.param6 = 0.0f;
+    cmd.param7 = 0.0f;
+    cmd.target_system = id();
+    cmd.target_component = 0;
+    
+    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
+    
+    sendMessage(msg);
+}
+
+bool Vehicle::flightModeSetAvailable(void)
+{
+    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
+}
+
+QStringList Vehicle::flightModes(void)
+{
+    return _firmwarePlugin->flightModes();
+}
+
+QString Vehicle::flightMode(void)
+{
+    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
+}
+
+void Vehicle::setFlightMode(const QString& flightMode)
+{
+    uint8_t     base_mode;
+    uint32_t    custom_mode;
+
+    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
+        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
+        // states.
+        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
+        newBaseMode |= base_mode;
+
+        mavlink_message_t msg;
+        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
+        sendMessage(msg);
+    } else {
+        qCWarning(VehicleLog) << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
+    }
+}
+
+bool Vehicle::hilMode(void)
+{
+    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
+}
+
+void Vehicle::setHilMode(bool hilMode)
+{
+    mavlink_message_t msg;
+
+    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
+    if (hilMode) {
+        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
+    }
+
+    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
+    sendMessage(msg);
+}

src/Vehicle/Vehicle.h

@@ -35,6 +35,7 @@
 #include "QGCMAVLink.h"
 #include "MissionItem.h"
 #include "QmlObjectListModel.h"
+#include "MAVLinkProtocol.h"
 
 class UAS;
 class UASInterface;
@@ -62,6 +63,14 @@ public:
     Q_PROPERTY(bool             homePositionAvailable   READ homePositionAvailable  NOTIFY homePositionAvailableChanged)
     Q_PROPERTY(QGeoCoordinate   homePosition            READ homePosition           NOTIFY homePositionChanged)
     
+    Q_PROPERTY(bool armed READ armed WRITE setArmed NOTIFY armedChanged)
+
+    Q_PROPERTY(bool flightModeSetAvailable READ flightModeSetAvailable CONSTANT)
+    Q_PROPERTY(QStringList flightModes READ flightModes CONSTANT)
+    Q_PROPERTY(QString flightMode READ flightMode WRITE setFlightMode NOTIFY flightModeChanged)
+
+    Q_PROPERTY(bool hilMode READ hilMode WRITE setHilMode NOTIFY hilModeChanged)
+    
     Q_INVOKABLE QString     getMavIconColor();
     
     //-- System Messages
@@ -87,8 +96,6 @@ public:
     Q_PROPERTY(double       batteryVoltage      READ batteryVoltage     NOTIFY batteryVoltageChanged)
     Q_PROPERTY(double       batteryPercent      READ batteryPercent     NOTIFY batteryPercentChanged)
     Q_PROPERTY(double       batteryConsumed     READ batteryConsumed    NOTIFY batteryConsumedChanged)
-    Q_PROPERTY(bool         systemArmed         READ systemArmed        NOTIFY systemArmedChanged)
-    Q_PROPERTY(QString      currentMode         READ currentMode        NOTIFY currentModeChanged)
     Q_PROPERTY(QString      systemPixmap        READ systemPixmap       NOTIFY systemPixmapChanged)
     Q_PROPERTY(int          satelliteCount      READ satelliteCount     NOTIFY satelliteCountChanged)
     Q_PROPERTY(QString      currentState        READ currentState       NOTIFY currentStateChanged)
@@ -160,6 +167,17 @@ public:
     bool homePositionAvailable(void);
     QGeoCoordinate homePosition(void);
     
+    bool armed(void) { return _armed; }
+    void setArmed(bool armed);
+
+    bool flightModeSetAvailable(void);
+    QStringList flightModes(void);
+    QString flightMode(void);
+    void setFlightMode(const QString& flightMode);
+
+    bool hilMode(void);
+    void setHilMode(bool hilMode);
+    
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -206,8 +224,6 @@ public:
     double          batteryVoltage      () { return _batteryVoltage; }
     double          batteryPercent      () { return _batteryPercent; }
     double          batteryConsumed     () { return _batteryConsumed; }
-    bool            systemArmed         () { return _systemArmed; }
-    QString         currentMode         () { return _currentMode; }
     QString         systemPixmap        () { return _systemPixmap; }
     QString         currentState        () { return _currentState; }
     QString         systemName          () { return _systemName; }
@@ -229,6 +245,9 @@ signals:
     void mavlinkMessageReceived(const mavlink_message_t& message);
     void homePositionAvailableChanged(bool homePositionAvailable);
     void homePositionChanged(const QGeoCoordinate& homePosition);
+    void armedChanged(bool armed);
+    void flightModeChanged(const QString& flightMode);
+    void hilModeChanged(bool hilMode);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
@@ -251,9 +270,7 @@ signals:
     void batteryVoltageChanged  ();
     void batteryPercentChanged  ();
     void batteryConsumedChanged ();
-    void systemArmedChanged     ();
     void heartbeatTimeoutChanged();
-    void currentModeChanged     ();
     void currentConfigChanged   ();
     void systemPixmapChanged    ();
     void satelliteCountChanged  ();
@@ -282,9 +299,7 @@ private slots:
     void _checkUpdate                       ();
     void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
     void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);
-    void _updateArmingState                 (bool armed);
     void _updateState                       (UASInterface* system, QString name, QString description);
-    void _updateMode                        (int system, QString name, QString description);
     void _updateName                        (const QString& name);
     void _setSystemType                     (UASInterface* uas, unsigned int systemType);
     void _heartbeatTimeout                  (bool timeout, unsigned int ms);
@@ -301,7 +316,9 @@ private:
     void _loadSettings(void);
     void _saveSettings(void);
     void _startJoystick(bool start);
-    
+    void _handleHomePosition(mavlink_message_t& message);
+    void _handleHeartbeat(mavlink_message_t& message);
+
     bool    _isAirplane                     ();
     void    _addChange                      (int id);
     float   _oneDecimal                     (float value);
@@ -313,6 +330,7 @@ private:
     MAV_AUTOPILOT       _firmwareType;
     FirmwarePlugin*     _firmwarePlugin;
     AutoPilotPlugin*    _autopilotPlugin;
+    MAVLinkProtocol*    _mavlink;
     
     /// List of all links associated with this vehicle. We keep SharedLinkInterface objects
     /// which are QSharedPointer's in order to maintain reference counts across threads.
@@ -357,9 +375,7 @@ private:
     double          _batteryVoltage;
     double          _batteryPercent;
     double          _batteryConsumed;
-    bool            _systemArmed;
     QString         _currentState;
-    QString         _currentMode;
     QString         _systemName;
     QString         _systemPixmap;
     unsigned int    _currentHeartbeatTimeout;
@@ -373,6 +389,10 @@ private:
     MissionManager*     _missionManager;
     QmlObjectListModel  _missionItems;
     
+    bool    _armed;         ///< true: vehicle is armed
+    uint8_t _base_mode;     ///< base_mode from HEARTBEAT
+    uint32_t _custom_mode;  ///< custom_mode from HEARTBEAT
+    
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;
     static const char* _joystickEnabledSettingsKey;

src/VehicleSetup/JoystickConfig.qml

@@ -482,9 +482,9 @@ QGCView {
 
                                 QGCCheckBox {
                                     anchors.verticalCenter:     parent.verticalCenter
-                                    checked:                    _activeJoystick.buttonActions[modelData] != -1
+                                    checked:                    _activeJoystick.buttonActions[modelData] != ""
 
-                                    onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.currentIndex : -1)
+                                    onClicked: _activeJoystick.setButtonAction(modelData, checked ? buttonActionCombo.textAt(buttonActionCombo.currentIndex) : "")
                                 }
 
                                 Rectangle {
@@ -509,9 +509,9 @@ QGCView {
                                     id:             buttonActionCombo
                                     width:          ScreenTools.defaultFontPixelWidth * 20
                                     model:          _activeJoystick.actions
-                                    currentIndex:   _activeJoystick.buttonActions[modelData]
 
-                                    onActivated: _activeJoystick.setButtonAction(modelData, index)
+                                    onActivated:            _activeJoystick.setButtonAction(modelData, textAt(index))
+                                    Component.onCompleted:  currentIndex = find(_activeJoystick.buttonActions[modelData])
                                 }
                             }
                         } // Repeater

src/VehicleSetup/SetupView.qml

@@ -63,7 +63,7 @@ Rectangle {
     function showFirmwarePanel()
     {
         if (!ScreenTools.isMobile) {
-            if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
+            if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.armed) {
                 messagePanelText = armedVehicleText
                 panelLoader.sourceComponent = messagePanelComponent
             } else {
@@ -74,7 +74,7 @@ Rectangle {
 
     function showJoystickPanel()
     {
-        if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.autopilot.armed) {
+        if (multiVehicleManager.activeVehicleAvailable && multiVehicleManager.activeVehicle.armed) {
             messagePanelText = armedVehicleText
             panelLoader.sourceComponent = messagePanelComponent
         } else {
@@ -89,7 +89,7 @@ Rectangle {
 
     function showVehicleComponentPanel(vehicleComponent)
     {
-        if (multiVehicleManager.activeVehicle.autopilot.armed) {
+        if (multiVehicleManager.activeVehicle.armed) {
             messagePanelText = armedVehicleText
             panelLoader.sourceComponent = messagePanelComponent
         } else {

src/comm/MockLink.cc

@@ -338,7 +338,6 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
                 break;
 
             default:
-                qDebug() << "MockLink: Unhandled mavlink message, id:" << msg.msgid;
                 break;
         }
     }

src/qgcunittest/MavlinkLogTest.cc

@@ -150,13 +150,10 @@ void MavlinkLogTest::_connectLogWorker(bool arm)
     QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*)));
     QCOMPARE(spyVehicle.wait(5000), true);
 
-    UAS* uas = MultiVehicleManager::instance()->activeUas();
-    QVERIFY(uas);
-    
     QDir logSaveDir;
     
     if (arm) {
-        uas->armSystem();
+        MultiVehicleManager::instance()->activeVehicle()->setArmed(true);
         QTest::qWait(1500); // Wait long enough for heartbeat to come through
         
         // On Disconnect: We should get a getSaveFileName dialog.

src/ui/MainWindow.cc

@@ -86,8 +86,6 @@ This file is part of the QGROUNDCONTROL project
 /// The key under which the Main Window settings are saved
 const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";
 
-const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET";
-const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
 const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
 const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
 const char* MainWindow::_customCommandWidgetName = "CUSTOM_COMMAND_DOCKWIDGET";
@@ -388,8 +386,6 @@ void MainWindow::_buildCommonWidgets(void)
     };
 
     static const struct DockWidgetInfo rgDockWidgetInfo[] = {
-        { _uasControlDockWidgetName,        "Control",                  Qt::LeftDockWidgetArea },
-        { _uasListDockWidgetName,           "Unmanned Systems",         Qt::RightDockWidgetArea },
         { _waypointsDockWidgetName,         "Mission Plan",             Qt::BottomDockWidgetArea },
         { _mavlinkDockWidgetName,           "MAVLink Inspector",        Qt::RightDockWidgetArea },
         { _customCommandWidgetName,         "Custom Command",			Qt::RightDockWidgetArea },
@@ -487,11 +483,7 @@ void MainWindow::_createInnerDockWidget(const QString& widgetName)
 
     QWidget* widget = NULL;
 
-    if (widgetName == _uasControlDockWidgetName) {
-        widget = new UASControlWidget(this);
-    } else if (widgetName == _uasListDockWidgetName) {
-        widget = new UASListWidget(this);
-    } else if (widgetName == _waypointsDockWidgetName) {
+    if (widgetName == _waypointsDockWidgetName) {
         widget = new QGCWaypointListMulti(this);
     } else if (widgetName == _mavlinkDockWidgetName) {
         widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this);
@@ -880,7 +872,7 @@ void MainWindow::_loadCurrentViewState(void)
         case VIEW_SIMULATION:
             _buildSimView();
             centerView = _simView;
-            defaultWidgets = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
+            defaultWidgets = "WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
             break;
 
         default:

src/ui/MainWindow.h

@@ -41,11 +41,9 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "LinkInterface.h"
 #include "UASInterface.h"
-#include "UASControlWidget.h"
 #include "UASInfoWidget.h"
 #include "WaypointList.h"
 #include "CameraView.h"
-#include "UASListWidget.h"
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
 #include "Mouse6dofInput.h"
 #endif // QGC_MOUSE_ENABLED_WIN

src/ui/WaypointEditableView.cc

@@ -13,6 +13,7 @@
 
 #include <QDoubleSpinBox>
 #include <QDebug>
+#include <QGroupBox>
 
 #include <cmath>
 #include <qmath.h>

src/ui/toolbar/MainToolBar.qml

@@ -279,24 +279,59 @@ Rectangle {
 
             }
 
-            Rectangle {
-                id: mavIcon
-                width: cellHeight
-                height: cellHeight
-                visible: mainToolBar.showMav
+            QGCButton {
+                width:                  ScreenTools.defaultFontPixelWidth * 12
+                height:                 cellHeight
+                visible:                mainToolBar.showMav
                 anchors.verticalCenter: parent.verticalCenter
-                color: colorBlue
-                border.color: "#00000000"
-                border.width: 0
-                Image {
-                    source: activeVehicle.systemPixmap
-                    height: cellHeight * 0.75
-                    fillMode: Image.PreserveAspectFit
-                    anchors.verticalCenter: parent.verticalCenter
-                    anchors.horizontalCenter: parent.horizontalCenter
+                text:                   "Vehicle " + activeVehicle.id
+
+                menu: vehicleMenu
+
+                Menu {
+                    id: vehicleMenu
+                }
+
+                Component {
+                    id: vehicleMenuItemComponent
+
+                    MenuItem {
+                        checkable:      true
+                        checked:        vehicle.active
+                        onTriggered:    multiVehicleManager.activeVehicle = vehicle
+
+                        property int vehicleId: Number(text.split(" ")[1])
+                        property var vehicle:   multiVehicleManager.getVehicleById(vehicleId)
+                    }
+                }
+
+                property var vehicleMenuItems: []
+
+                function updateVehicleMenu() {
+                    // Remove old menu items
+                    for (var i=0; i<vehicleMenuItems.length; i++) {
+                        vehicleMenu.removeItem(vehicleMenuItems[i])
+                    }
+                    vehicleMenuItems.length = 0
+
+                    // Add new items
+                    for (var i=0; i<multiVehicleManager.vehicles.count; i++) {
+                        var vehicle = multiVehicleManager.vehicles.get(i)
+                        var menuItem = vehicleMenuItemComponent.createObject(null, { "text": "Vehicle " + vehicle.id })
+                        vehicleMenuItems.push(menuItem)
+                        vehicleMenu.insertItem(i, menuItem)
+                    }
+                }
+
+                Component.onCompleted: updateVehicleMenu()
+
+                Connections {
+                    target:         multiVehicleManager.vehicles
+                    onCountChanged: parent.updateVehicleMenu
                 }
             }
 
+
             Rectangle {
                 id: satelitte
                 width:  getProportionalDimmension(55)
@@ -478,69 +513,92 @@ Rectangle {
                 }
             }
 
-            Column {
-                height:  cellHeight * 0.85
-                width:   getProportionalDimmension(80)
+            QGCButton {
+                width:                  ScreenTools.defaultFontPixelWidth * 11
+                height:                 cellHeight
                 anchors.verticalCenter: parent.verticalCenter
+                text:                   activeVehicle.armed ? "Armed" : "Disarmed"
 
-                Rectangle {
-                    id: armedStatus
-                    width: parent.width
-                    height: parent.height / 2
-                    anchors.horizontalCenter: parent.horizontalCenter
-                    color: "#00000000"
-                    border.color: "#00000000"
-                    border.width: 0
+                menu: Menu {
+                    MenuItem {
+                        enabled: !activeVehicle.armed
+                        text: "Arm"
 
-                    QGCLabel {
-                        id: armedStatusText
-                        text: (activeVehicle.systemArmed) ? qsTr("ARMED") :  qsTr("DISARMED")
-                        font.pixelSize: ScreenTools.smallFontPixelSize
-                        font.weight: Font.DemiBold
-                        anchors.centerIn: parent
-                        color: (activeVehicle.systemArmed) ? colorOrangeText : colorGreenText
+                        onTriggered: activeVehicle.armed = true
+                    }
+
+                    MenuItem {
+                        enabled: activeVehicle.armed
+                        text: "Disarm"
+
+                        onTriggered: activeVehicle.armed = false
                     }
                 }
+            }
 
-                Rectangle {
-                    id: stateStatus
-                    width: parent.width
-                    height: parent.height / 2
-                    anchors.horizontalCenter: parent.horizontalCenter
-                    color: "#00000000"
-                    border.color: "#00000000"
-                    border.width: 0
+            QGCButton {
+                width:                  ScreenTools.defaultFontPixelWidth * 15
+                height:                 cellHeight
+                anchors.verticalCenter: parent.verticalCenter
+                text:                   activeVehicle.flightMode
 
-                    QGCLabel {
-                        id: stateStatusText
-                        text: activeVehicle.currentState
-                        font.pixelSize: ScreenTools.smallFontPixelSize
-                        font.weight: Font.DemiBold
-                        anchors.centerIn: parent
-                        color: (activeVehicle.currentState === "STANDBY") ? colorGreenText : colorRedText
+                menu: flightModesMenu
+
+                Menu {
+                    id: flightModesMenu
+                }
+
+                Component {
+                    id: flightModeMenuItemComponent
+
+                    MenuItem {
+                        checkable:      true
+                        checked:        activeVehicle.flightMode == text
+                        onTriggered:    activeVehicle.flightMode = text
+                    }
+                }
+
+                property var flightModesMenuItems: []
+
+                function updateFlightModesMenu() {
+                    // Remove old menu items
+                    for (var i=0; i<flightModesMenuItems.length; i++) {
+                        flightModesMenu.removeItem(flightModesMenuItems[i])
+                    }
+                    flightModesMenuItems.length = 0
+
+                    // Add new items
+                    for (var i=0; i<activeVehicle.flightModes.length; i++) {
+                        var menuItem = flightModeMenuItemComponent.createObject(null, { "text": activeVehicle.flightModes[i] })
+                        flightModesMenuItems.push(menuItem)
+                        flightModesMenu.insertItem(i, menuItem)
                     }
                 }
 
+                Component.onCompleted: updateFlightModesMenu()
+
+                Connections {
+                    target:                 multiVehicleManager
+                    onActiveVehicleChanged: parent.updateFlightModesMenu
+                }
             }
 
             Rectangle {
-                id: modeStatus
-                width: getProportionalDimmension(90)
-                height: cellHeight
-                color: "#00000000"
-                border.color: "#00000000"
-                border.width: 0
+                width:                  ScreenTools.defaultFontPixelWidth * 4
+                height:                 cellHeight
+                anchors.verticalCenter: parent.verticalCenter
+                color:                  colorBlue
+                border.width:           0
+                visible:                activeVehicle.hilMode
 
                 QGCLabel {
-                    id: modeStatusText
-                    text: activeVehicle.currentMode
-                    font.pixelSize: ScreenTools.smallFontPixelSize
-                    font.weight: Font.DemiBold
-                    anchors.horizontalCenter: parent.horizontalCenter
-                    anchors.verticalCenter: parent.verticalCenter
-                    color: colorWhiteText
+                    anchors.fill:           parent
+                    horizontalAlignment:    Text.AlignHCenter
+                    verticalAlignment:      Text.AlignVCenter
+                    text:                   "HIL"
                 }
             }
+
         } // Row
     } // Component - activeVehicleComponent
 

src/ui/uas/UASInfoWidget.h

@@ -74,10 +74,7 @@ public slots:
     void setVoltage(UASInterface* uas, double voltage);
     void setChargeLevel(UASInterface* uas, double chargeLevel);
     void setTimeRemaining(UASInterface* uas, double seconds);
-//    void setBattery(int uasid, BatteryType type, int cells);
 
-//    void valueChanged(int uasid, QString key, double value,quint64 time);
-//    void actuatorChanged(UASInterface* uas, int actId, double value);
     void refresh();
 
 protected: