Airframe component is always created

qgroundcontrol.pro

@@ -544,10 +544,12 @@ SOURCES += \
 #
 
 INCLUDEPATH += \
+    src/AutoPilotPlugins/APM \
     src/AutoPilotPlugins/Common \
     src/AutoPilotPlugins/PX4 \
-    src/AutoPilotPlugins/APM \
     src/FirmwarePlugin \
+    src/FirmwarePlugin/APM \
+    src/FirmwarePlugin/PX4 \
     src/Vehicle \
     src/VehicleSetup \
 

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -25,13 +25,14 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "APMAirframeComponent.h"
-#include "QGCQmlWidgetHolder.h"
+#include "ArduCopterFirmwarePlugin.h"
 
-APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
-    APMComponent(vehicle, autopilot, parent),
-    _name(tr("Airframe"))
+APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
+    : APMComponent(vehicle, autopilot, parent)
+    , _copterFirmware(false)
+    , _name("Airframe")
 {
-
+    _copterFirmware = qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL;
 }
 
 QString APMAirframeComponent::name(void) const
@@ -52,28 +53,45 @@ QString APMAirframeComponent::iconResource(void) const
 
 bool APMAirframeComponent::requiresSetup(void) const
 {
-    return true;
+    return _copterFirmware;
 }
 
 bool APMAirframeComponent::setupComplete(void) const
 {
-    //: Not the correct one, but it works for the moment.
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != -1;
+    if (_copterFirmware) {
+        return _autopilot->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() >= 0;
+    } else {
+        return true;
+    }
 }
 
 QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
 {
-    return QStringList();
+    QStringList list;
+
+    if (_copterFirmware) {
+        list << "FRAME";
+    }
+
+    return list;
 }
 
 QUrl APMAirframeComponent::setupSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
+    if (_copterFirmware) {
+        return QUrl::fromUserInput("qrc:/qml/APMAirframeComponent.qml");
+    } else {
+        return QUrl();
+    }
 }
 
 QUrl APMAirframeComponent::summaryQmlSource(void) const
 {
-    return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
+    if (_copterFirmware) {
+        return QUrl::fromUserInput("qrc:/qml/APMAirframeComponentSummary.qml");
+    } else {
+        return QUrl();
+    }
 }
 
 QString APMAirframeComponent::prerequisiteSetup(void) const

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -47,8 +47,8 @@ public:
     virtual QString prerequisiteSetup(void) const;
 
 private:
+    bool            _copterFirmware;
     const QString   _name;
-    QVariantList    _summaryItems;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -67,14 +67,12 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
 
         if (parametersReady()) {
-            if (dynamic_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin())){
-                _airframeComponent = new APMAirframeComponent(_vehicle, this);
-                if(_airframeComponent) {
-                    _airframeComponent->setupTriggerSignals();
-                    _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
-                } else {
-                    qWarning() << "new APMAirframeComponent failed";
-                }
+            _airframeComponent = new APMAirframeComponent(_vehicle, this);
+            if(_airframeComponent) {
+                _airframeComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
+            } else {
+                qWarning() << "new APMAirframeComponent failed";
             }
 
             _flightModesComponent = new APMFlightModesComponent(_vehicle, this);