From b887cbd9cddf776473af20f9d0f09d3e1ead0d7a Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 20 Dec 2015 10:26:45 -0800
Subject: [PATCH] Airframe component is always created

---
 qgroundcontrol.pro                               |  4 ++-
 src/AutoPilotPlugins/APM/APMAirframeComponent.cc | 40 +++++++++++++++++-------
 src/AutoPilotPlugins/APM/APMAirframeComponent.h  |  2 +-
 src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc   | 14 ++++-----
 4 files changed, 39 insertions(+), 21 deletions(-)

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index e6f7fcd..167a06a 100644
--- a/qgroundcontrol.pro
+++ b/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 \
 
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
index 19899f1..12fb5df 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
+++ b/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
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.h b/src/AutoPilotPlugins/APM/APMAirframeComponent.h
index a37f9d3..7741938 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponent.h
+++ b/src/AutoPilotPlugins/APM/APMAirframeComponent.h
@@ -47,8 +47,8 @@ public:
     virtual QString prerequisiteSetup(void) const;
 
 private:
+    bool            _copterFirmware;
     const QString   _name;
-    QVariantList    _summaryItems;
 };
 
 #endif
diff --git a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc b/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
index 338ce0d..e0bdf16 100644
--- a/src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc
+++ b/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);