Correcting joystick implementation

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -68,12 +68,13 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return true;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ||
+            _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
 }
 
 QString FlightModesComponent::setupStateDescription(void) const
@@ -116,13 +117,18 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
-    } else if (!plugin->radioComponent()->setupComplete()) {
-        return plugin->radioComponent()->name();
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1) {
+        // No RC input
+        return QString();
+    } else {
+        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+        Q_ASSERT(plugin);
+
+        if (!plugin->airframeComponent()->setupComplete()) {
+            return plugin->airframeComponent()->name();
+        } else if (!plugin->radioComponent()->setupComplete()) {
+            return plugin->radioComponent()->name();
+        }
     }
     
     return QString();

src/AutoPilotPlugins/PX4/FlightModesComponent.qml

@@ -42,6 +42,9 @@ QGCView {
 
     // User visible strings
 
+    readonly property string title:                     "FLIGHT MODES CONFIG"
+
+
     property string topHelpText:                        "Assign Flight Modes to radio control channels and adjust the thresholds for triggering them. " +
                                                         "You can assign multiple flight modes to a single channel. " +
                                                         "Turn your radio control on to test switch settings. " +
@@ -117,6 +120,8 @@ QGCView {
 
     readonly property real modeSpacing: ScreenTools.defaultFontPixelHeight / 3
 
+    property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
+
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
     FlightModesComponentController {
@@ -130,7 +135,13 @@ QGCView {
         interval:   200
         running:    true
 
-        onTriggered: recalcModePositions()
+        onTriggered: {
+            if (rcInMode.value == 1) {
+                showDialog(joystickEnabledDialogComponent, title, 50, 0)
+            } else {
+                recalcModePositions()
+            }
+        }
     }
 
     function recalcModePositions() {
@@ -188,6 +199,14 @@ QGCView {
         id:             panel
         anchors.fill:   parent
 
+        Component {
+            id: joystickEnabledDialogComponent
+
+            QGCViewMessage {
+                message: "Flight Mode Config is disabled since you have a Joystick enabled."
+            }
+        }
+
         ScrollView {
             id:                         scroll
             anchors.fill:               parent
@@ -201,7 +220,7 @@ QGCView {
                     id:             header
                     width:          parent.width
                     font.pixelSize: ScreenTools.largeFontPixelSize
-                    text:           "FLIGHT MODES CONFIG"
+                    text:           title
                 }
 
                 Item {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -107,28 +107,20 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
         
         if (pluginReady()) {
-            bool noRCTransmitter = false;
-            if (parameterExists(FactSystem::defaultComponentId, "COM_RC_IN_MODE")) {
-                Fact* rcFact = getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
-                noRCTransmitter = rcFact->value().toInt() == 1;
-            }
-
             _airframeComponent = new AirframeComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
-            if (!noRCTransmitter) {
-                _radioComponent = new RadioComponent(_vehicle->uas(), this);
-                Q_CHECK_PTR(_radioComponent);
-                _radioComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
-                
-                _flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
-                Q_CHECK_PTR(_flightModesComponent);
-                _flightModesComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
-            }
+            _radioComponent = new RadioComponent(_vehicle->uas(), this);
+            Q_CHECK_PTR(_radioComponent);
+            _radioComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
+            
+            _flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
+            Q_CHECK_PTR(_flightModesComponent);
+            _flightModesComponent->setupTriggerSignals();
+            _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
             
             _sensorsComponent = new SensorsComponent(_vehicle->uas(), this);
             Q_CHECK_PTR(_sensorsComponent);

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -53,18 +53,20 @@ QString RadioComponent::iconResource(void) const
 
 bool RadioComponent::requiresSetup(void) const
 {
-    return true;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
 }
 
 bool RadioComponent::setupComplete(void) const
 {
-    // The best we can do to detect the need for a radio calibration is look for attitude
-    // controls to be mapped.
-    QStringList attitudeMappings;
-    attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
-    foreach(QString mapParam, attitudeMappings) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
-            return false;
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
+        // The best we can do to detect the need for a radio calibration is look for attitude
+        // controls to be mapped.
+        QStringList attitudeMappings;
+        attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
+        foreach(QString mapParam, attitudeMappings) {
+            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
+                return false;
+            }
         }
     }
     
@@ -113,11 +115,14 @@ QUrl RadioComponent::summaryQmlSource(void) const
 
 QString RadioComponent::prerequisiteSetup(void) const
 {
-    PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
-    Q_ASSERT(plugin);
-    
-    if (!plugin->airframeComponent()->setupComplete()) {
-        return plugin->airframeComponent()->name();
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
+        PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
+        Q_ASSERT(plugin);
+        
+        if (!plugin->airframeComponent()->setupComplete()) {
+            return plugin->airframeComponent()->name();
+
+        }
     }
     
     return QString();

src/AutoPilotPlugins/PX4/RadioComponent.qml

@@ -47,10 +47,12 @@ QGCView {
     property bool controllerCompleted: false
     property bool controllerAndViewReady: false
 
+    property Fact rcInMode: controller.getParameterFact(-1, "COM_RC_IN_MODE")
+
     function updateChannelCount()
     {
         if (controllerAndViewReady) {
-            if (joystickManager.activeJoystick && joystickManager.activeJoystick.enabled) {
+            if (rcInMode.value == 1) {
                 showDialog(joystickEnabledDialogComponent, dialogTitle, 50, 0)
             }
 /*

src/Joystick/Joystick.cc

@@ -43,7 +43,6 @@ const char* Joystick::_settingsGroup =              "Joysticks";
 const char* Joystick::_calibratedSettingsKey =      "Calibrated";
 const char* Joystick::_buttonActionSettingsKey =    "ButtonAction%1";
 const char* Joystick::_throttleModeSettingsKey =    "ThrottleMode";
-const char* Joystick::_enabledSettingsKey =         "Enabled";
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -57,13 +56,14 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     : _sdlIndex(sdlIndex)
     , _exitThread(false)
     , _name(name)
-    , _enabled(false)
     , _calibrated(false)
     , _calibrating(false)
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
+    , _activeVehicle(NULL)
+    , _pollingStartedForCalibration(false)
 #endif // __mobile__
 {
 #ifdef __mobile__
@@ -104,12 +104,11 @@ void Joystick::_loadSettings(void)
     qCDebug(JoystickLog) << "_loadSettings " << _name;
     
     _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
-    _enabled = settings.value(_enabledSettingsKey, false).toBool();
     
     _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
     badSettings |= !convertOk;
     
-    qCDebug(JoystickLog) << "_loadSettings calibrated:enabled:throttlemode:badsettings" << _calibrated << _enabled << _throttleMode << badSettings;
+    qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:badsettings" << _calibrated << _throttleMode << badSettings;
     
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -153,8 +152,6 @@ void Joystick::_loadSettings(void)
     
     if (badSettings) {
         _calibrated = false;
-        _enabled = false;
-        settings.setValue(_calibratedSettingsKey, false);
         settings.setValue(_calibratedSettingsKey, false);
     }
 }
@@ -167,10 +164,9 @@ void Joystick::_saveSettings(void)
     settings.beginGroup(_name);
     
     settings.setValue(_calibratedSettingsKey, _calibrated);
-    settings.setValue(_enabledSettingsKey, _enabled && _calibrated);
     settings.setValue(_throttleModeSettingsKey, _throttleMode);
     
-    qCDebug(JoystickLog) << "_saveSettings calibrated:enabled:throttlemode" << _calibrated << _enabled << _throttleMode;
+    qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
@@ -250,7 +246,6 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
 void Joystick::run(void)
 {
     SDL_Joystick* sdlJoystick = SDL_JoystickOpen(_sdlIndex);
-    Vehicle * activeVehicle = MultiVehicleManager::instance()->activeVehicle();
     
     if (!sdlJoystick) {
         qCWarning(JoystickLog) << "SDL_JoystickOpen failed:" << SDL_GetError();
@@ -277,7 +272,7 @@ void Joystick::run(void)
             }
         }
         
-        if (_calibrated && _enabled && !_calibrating) {
+        if (_calibrated && !_calibrating) {
             int     axis = _rgFunctionAxis[rollFunction];
             float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
             
@@ -306,7 +301,7 @@ void Joystick::run(void)
             // Set up button pressed information
             
             // We only send the buttons the firmwware has reserved
-            int reservedButtonCount = activeVehicle->manualControlReservedButtonCount();
+            int reservedButtonCount = _activeVehicle->manualControlReservedButtonCount();
             if (reservedButtonCount == -1) {
                 reservedButtonCount = _buttonCount;
             }
@@ -345,7 +340,7 @@ void Joystick::run(void)
             
             _lastButtonBits = newButtonBits;
             
-            emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, activeVehicle->joystickMode());
+            emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
         }
         
         // Sleep, update rate of joystick is approx. 25 Hz (1000 ms / 25 = 40 ms)
@@ -355,27 +350,37 @@ void Joystick::run(void)
     SDL_JoystickClose(sdlJoystick);
 }
 
-void Joystick::startPolling(void)
+void Joystick::startPolling(Vehicle* vehicle)
 {
-    if (enabled()) {
-        UAS* uas = MultiVehicleManager::instance()->activeVehicle()->uas();
+    if (isRunning()) {
+        if (_calibrating && vehicle != _activeVehicle) {
+            // Joystick was previously disabled, but now enabled from config screen
+            _activeVehicle = vehicle;
+            _pollingStartedForCalibration = false;
+        }
+    } else {
+        _activeVehicle = vehicle;
+        
+        UAS* uas = _activeVehicle->uas();
         
         connect(this, &Joystick::manualControl,         uas, &UAS::setExternalControlSetpoint);
         connect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
+        
+        _exitThread = false;
+        start();
     }
-    
-    _exitThread = false;
-    start();
 }
 
 void Joystick::stopPolling(void)
 {
-    UAS* uas = MultiVehicleManager::instance()->activeVehicle()->uas();
-    
-    disconnect(this, &Joystick::manualControl,          uas, &UAS::setExternalControlSetpoint);
-    disconnect(this, &Joystick::buttonActionTriggered, uas, &UAS::triggerAction);
-    
-    _exitThread = true;
+    if (isRunning()) {
+        UAS* uas = _activeVehicle->uas();
+        
+        disconnect(this, &Joystick::manualControl,          uas, &UAS::setExternalControlSetpoint);
+        disconnect(this, &Joystick::buttonActionTriggered,  uas, &UAS::triggerAction);
+        
+        _exitThread = true;
+        }
 }
 
 void Joystick::setCalibration(int axis, Calibration_t& calibration)
@@ -482,39 +487,24 @@ void Joystick::setThrottleMode(int mode)
     emit throttleModeChanged(_throttleMode);
 }
 
-bool Joystick::enabled(void)
+void Joystick::startCalibration(void)
 {
-    Fact* fact = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
-    if (!fact) {
-        qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
-        return false;
-    }
+    _calibrating = true;
     
-    return _enabled && _calibrated && (fact->value().toInt() == 2);
+    if (!isRunning()) {
+        _pollingStartedForCalibration = true;
+        startPolling(MultiVehicleManager::instance()->activeVehicle());
+    }
 }
 
-void Joystick::setEnabled(bool enabled)
+void Joystick::stopCalibration(void)
 {
-    if (!_calibrated) {
-        return;
-    }
-    
-    Fact* fact = MultiVehicleManager::instance()->activeVehicle()->autopilotPlugin()->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
-    if (!fact) {
-        qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
-        return;
-    }
-    
-    _enabled = enabled;
-    fact->setValue(enabled ? 2 : 0);
-    
-    _saveSettings();
-    emit enabledChanged(_enabled);
-    
-    if (_enabled) {
-        startPolling();
-    } else {
-        stopPolling();
+    if (_calibrating) {
+        _calibrating = false;
+        
+        if (_pollingStartedForCalibration) {
+            stopPolling();
+        }
     }
 }
 

src/Joystick/Joystick.h

@@ -65,7 +65,6 @@ public:
     Q_PROPERTY(QString name READ name CONSTANT)
     
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
-    Q_PROPERTY(bool enabled READ enabled WRITE setEnabled NOTIFY enabledChanged)
     
     Q_PROPERTY(int buttonCount MEMBER _buttonCount CONSTANT)
     Q_PROPERTY(int axisCount MEMBER _axisCount CONSTANT)
@@ -79,7 +78,7 @@ public:
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
     
     /// Start the polling thread which will in turn emit joystick signals
-    void startPolling(void);
+    void startPolling(Vehicle* vehicle);
     void stopPolling(void);
     
     void setCalibration(int axis, Calibration_t& calibration);
@@ -96,11 +95,11 @@ public:
     int throttleMode(void);
     void setThrottleMode(int mode);
     
-    bool enabled(void);
-    void setEnabled(bool enabled);
+    /// Calibration is about to start
+    void startCalibration(void);
     
-    bool calibrating(void) { return _calibrating; }
-    void setCalibrating(bool calibrating) { _calibrating = calibrating; }
+    /// Calibration has ended
+    void stopCalibration(void);
     
 signals:
     void calibratedChanged(bool calibrated);
@@ -139,7 +138,6 @@ private:
     bool    _exitThread;    ///< true: signal thread to exit
     
     QString _name;
-    bool    _enabled;
     bool    _calibrated;
     bool    _calibrating;
     int     _axisCount;
@@ -156,6 +154,9 @@ private:
     quint16             _lastButtonBits;
     
     ThrottleMode_t      _throttleMode;
+    
+    Vehicle*            _activeVehicle;
+    bool                _pollingStartedForCalibration;
 #endif // __mobile__
     
 private:
@@ -165,7 +166,6 @@ private:
     static const char* _calibratedSettingsKey;
     static const char* _buttonActionSettingsKey;
     static const char* _throttleModeSettingsKey;
-    static const char* _enabledSettingsKey;
 };
     
 #endif

src/Vehicle/MultiVehicleManager.cc

@@ -26,7 +26,6 @@
 
 #include "MultiVehicleManager.h"
 #include "AutoPilotPlugin.h"
-#include "JoystickManager.h"
 #include "MAVLinkProtocol.h"
 #include "UAS.h"
 
@@ -87,14 +86,8 @@ bool MultiVehicleManager::notifyHeartbeatInfo(LinkInterface* link, int vehicleId
 
 /// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
 /// and all other right things happen when the Vehicle goes away.
-void MultiVehicleManager::_deleteVehiclePhase1(void)
+void MultiVehicleManager::_deleteVehiclePhase1(Vehicle* vehicle)
 {
-    Vehicle* vehicle = dynamic_cast<Vehicle*>(sender());
-    if (!vehicle) {
-        qWarning() << "Dynamic cast failed!";
-        return;
-    }
-    
     _vehicleBeingDeleted = vehicle;
 
     // Remove from map
@@ -110,17 +103,9 @@ void MultiVehicleManager::_deleteVehiclePhase1(void)
         qWarning() << "Vehicle not found in map!";
     }
     
-    // Disconnect the vehicle from the uas
+    vehicle->setActive(false);
     vehicle->uas()->clearVehicle();
     
-#ifndef __mobile__
-    // Disconnect joystick
-    Joystick* joystick = JoystickManager::instance()->activeJoystick();
-    if (joystick) {
-        joystick->stopPolling();
-    }
-#endif
-    
     // First we must signal that a vehicle is no longer available.
     _activeVehicleAvailable = false;
     _parameterReadyVehicleAvailable = false;
@@ -151,6 +136,7 @@ void MultiVehicleManager::_deleteVehiclePhase2  (void)
     emit activeVehicleChanged(newActiveVehicle);
     
     if (_activeVehicle) {
+        _activeVehicle->setActive(true);
         emit activeVehicleAvailableChanged(true);
         if (_activeVehicle->autopilotPlugin()->pluginReady()) {
             emit parameterReadyVehicleAvailableChanged(true);
@@ -164,14 +150,8 @@ void MultiVehicleManager::setActiveVehicle(Vehicle* vehicle)
 {
     if (vehicle != _activeVehicle) {
         if (_activeVehicle) {
-#ifndef __mobile__
-            // Disconnect joystick
-            Joystick* joystick = JoystickManager::instance()->activeJoystick();
-            if (joystick) {
-                joystick->stopPolling();
-            }
-#endif
-                
+            _activeVehicle->setActive(false);
+            
             // The sequence of signals is very important in order to not leave Qml elements connected
             // to a non-existent vehicle.
             
@@ -197,6 +177,7 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
     
     // And finally vehicle availability
     if (_activeVehicle) {
+        _activeVehicle->setActive(true);
         _activeVehicleAvailable = true;
         emit activeVehicleAvailableChanged(true);
         
@@ -217,14 +198,6 @@ void MultiVehicleManager::_autopilotPluginReadyChanged(bool pluginReady)
     }
     
     if (autopilot->vehicle() == _activeVehicle) {
-#ifndef __mobile__
-        // Connect joystick
-        Joystick* joystick = JoystickManager::instance()->activeJoystick();
-        if (joystick && joystick->enabled()) {
-            joystick->startPolling();
-        }
-#endif
-        
         _parameterReadyVehicleAvailable = pluginReady;
         emit parameterReadyVehicleAvailableChanged(pluginReady);
     }

src/Vehicle/MultiVehicleManager.h

@@ -82,7 +82,7 @@ signals:
     void _deleteVehiclePhase2Signal(void);
     
 private slots:
-    void _deleteVehiclePhase1(void);
+    void _deleteVehiclePhase1(Vehicle* vehicle);
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
     void _autopilotPluginReadyChanged(bool pluginReady);

src/Vehicle/Vehicle.cc

@@ -29,6 +29,7 @@
 #include "AutoPilotPluginManager.h"
 #include "UASMessageHandler.h"
 #include "UAS.h"
+#include "JoystickManager.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -36,15 +37,18 @@ QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 #define DEFAULT_LAT  38.965767f
 #define DEFAULT_LON -120.083923f
 
-const char* Vehicle::_settingsGroup =           "Vehicle%1";   // %1 replace with mavlink system id
-const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
+const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
+const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
+const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";
 
 Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     : _id(vehicleId)
+    , _active(false)
     , _firmwareType(firmwareType)
     , _firmwarePlugin(NULL)
     , _autopilotPlugin(NULL)
     , _joystickMode(JoystickModeRC)
+    , _joystickEnabled(false)
     , _uas(NULL)
     , _mav(NULL)
     , _currentMessageCount(0)
@@ -81,8 +85,6 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     , _wpm(NULL)
     , _updateCount(0)
 {
-    _loadSettings();
-    
     _addLink(link);
     
     connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
@@ -96,9 +98,9 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
     connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
     
-    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);
+    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType);    
     _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
-    
+
     // Refresh timer
     connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
     _refreshTimer->setInterval(UPDATE_TIMER);
@@ -145,6 +147,8 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType)
     }
     _setSystemType(_mav, _mav->getSystemType());
     _updateArmingState(_mav->isArmed());
+    
+    _loadSettings();
 }
 
 Vehicle::~Vehicle()
@@ -225,7 +229,7 @@ void Vehicle::_linkDisconnected(LinkInterface* link)
     }
     
     if (_links.count() == 0) {
-        emit allLinksDisconnected();
+        emit allLinksDisconnected(this);
     }
 }
 
@@ -836,6 +840,8 @@ void Vehicle::_loadSettings(void)
     if (!convertOk) {
         _joystickMode = JoystickModeRC;
     }
+    
+    _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
 }
 
 void Vehicle::_saveSettings(void)
@@ -845,6 +851,7 @@ void Vehicle::_saveSettings(void)
     settings.beginGroup(QString(_settingsGroup).arg(_id));
     
     settings.setValue(_joystickModeSettingsKey, _joystickMode);
+    settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
 }
 
 int Vehicle::joystickMode(void)
@@ -868,7 +875,54 @@ QStringList Vehicle::joystickModes(void)
 {
     QStringList list;
     
-    list << "Simulate RC" << "Attitude" << "Position" << "Force" << "Velocity";
+    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";
     
     return list;
 }
+
+bool Vehicle::joystickEnabled(void)
+{
+    return _joystickEnabled;
+}
+
+void Vehicle::setJoystickEnabled(bool enabled)
+{
+    Fact* fact = _autopilotPlugin->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
+    if (!fact) {
+        qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
+    }
+    fact->setValue(enabled ? 1 : 0);
+    
+    _joystickEnabled = enabled;
+    _startJoystick(_joystickEnabled);
+    _saveSettings();
+}
+
+void Vehicle::_startJoystick(bool start)
+{
+    Joystick* joystick = JoystickManager::instance()->activeJoystick();
+    
+    if (joystick) {
+#ifndef __mobile__
+        if (start) {
+            if (_joystickEnabled) {
+                joystick->startPolling(this);
+            }
+        } else {
+            joystick->stopPolling();
+        }
+#endif
+    }
+}
+
+bool Vehicle::active(void)
+{
+    return _active;
+}
+
+void Vehicle::setActive(bool active)
+{
+    _active = active;
+    
+    _startJoystick(_active);
+}

src/Vehicle/Vehicle.h

@@ -102,7 +102,7 @@ public:
     Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
     
     typedef enum {
-        JoystickModeRC,         ///< Joystick emulates am RC Transmitter
+        JoystickModeRC,         ///< Joystick emulates an RC Transmitter
         JoystickModeAttitude,
         JoystickModePosition,
         JoystickModeForce,
@@ -119,6 +119,16 @@ public:
     Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
     QStringList joystickModes(void);
     
+    // Enable/Disable joystick for this vehicle
+    Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
+    bool joystickEnabled(void);
+    void setJoystickEnabled(bool enabled);
+    
+    // Is vehicle active with respect to current active vehicle in QGC
+    Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
+    bool active(void);
+    void setActive(bool active);
+    
     // Property accesors
     int id(void) { return _id; }
     MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
@@ -199,9 +209,11 @@ public slots:
     void setLongitude(double longitude);
     
 signals:
-    void allLinksDisconnected(void);
+    void allLinksDisconnected(Vehicle* vehicle);
     void coordinateChanged(QGeoCoordinate coordinate);
     void joystickModeChanged(int mode);
+    void joystickEnabledChanged(bool enabled);
+    void activeChanged(bool active);
     
     /// Used internally to move sendMessage call to main thread
     void _sendMessageOnThread(mavlink_message_t message);
@@ -274,15 +286,17 @@ private:
     void _addLink(LinkInterface* link);
     void _loadSettings(void);
     void _saveSettings(void);
+    void _startJoystick(bool start);
     
     bool    _isAirplane                     ();
     void    _addChange                      (int id);
     float   _oneDecimal                     (float value);
 
 private:
-    int             _id;            ///< Mavlink system id
-    MAV_AUTOPILOT   _firmwareType;
+    int     _id;            ///< Mavlink system id
+    bool    _active;
     
+    MAV_AUTOPILOT       _firmwareType;
     FirmwarePlugin*     _firmwarePlugin;
     AutoPilotPlugin*    _autopilotPlugin;
     
@@ -292,6 +306,7 @@ private:
     QList<SharedLinkInterface> _links;
     
     JoystickMode_t  _joystickMode;
+    bool            _joystickEnabled;
     
     UAS* _uas;
     
@@ -341,5 +356,6 @@ private:
     
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;
+    static const char* _joystickEnabledSettingsKey;
 };
 #endif

src/VehicleSetup/JoystickConfig.qml

@@ -29,6 +29,7 @@ import QGroundControl.Palette       1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Controllers   1.0
+import QGroundControl.FactSystem    1.0
 
 /// Joystick Config
 QGCView {
@@ -45,17 +46,6 @@ QGCView {
     property var _activeVehicle:    multiVehicleManager.activeVehicle
     property var _activeJoystick:   joystickManager.activeJoystick
 
-    function updateAxisCount()
-    {
-        if (controllerAndViewReady) {
-            if (controller.axisCount < controller.minAxisCount) {
-                showDialog(axisCountDialogComponent, dialogTitle, 50, 0)
-            } else {
-                hideDialog()
-            }
-        }
-    }
-
     JoystickConfigController {
         id:             controller
         factPanel:      panel
@@ -64,14 +54,11 @@ QGCView {
         nextButton:     nextButton
         skipButton:     skipButton
 
-        onAxisCountChanged: updateAxisCount()
-
         Component.onCompleted: {
             controllerCompleted = true
             if (rootQGCView.completedSignalled) {
                 controllerAndViewReady = true
                 controller.start()
-                updateAxisCount()
             }
         }
     }
@@ -88,14 +75,6 @@ QGCView {
         id:             panel
         anchors.fill:   parent
 
-        Component {
-            id: axisCountDialogComponent
-
-            QGCViewMessage {
-                message: controller.axisCount == 0 ? "No joystick axes deteced." : controller.minAxisCount + " joystick axes or more are needed to fly."
-            }
-        }
-
         // Live axis monitor control component
         Component {
             id: axisMonitorDisplayComponent
@@ -375,6 +354,18 @@ QGCView {
                         width:      parent.width
                         spacing:    ScreenTools.defaultFontPixelHeight
 
+
+                        QGCCheckBox {
+                            enabled:    allowEnableDisable
+                            text:       _activeJoystick.calibrated ? (rcInMode.value < 2 ? "Enable joystick input, disable RC input" : "Enable/Disable not allowed (COM_RC_IN_MODE=2)") : "Enable/Disable not allowed (Calibrate First)"
+                            checked:    _activeVehicle.joystickEnabled
+
+                            property bool allowEnableDisable:   _activeJoystick.calibrated && rcInMode.value < 2
+                            property Fact rcInMode:             controller.getParameterFact(-1, "COM_RC_IN_MODE")
+
+                            onClicked:  _activeVehicle.joystickEnabled = checked
+                        }
+
                         Row {
                             width:      parent.width
                             spacing:    ScreenTools.defaultFontPixelWidth
@@ -394,16 +385,6 @@ QGCView {
                             }
                         }
 
-                        QGCCheckBox {
-                            enabled:    calibrated
-                            text:       calibrated ? "Enable joystick input, disable RC input" : "Enable joystick input (Calibrate First)"
-                            checked:    _activeJoystick.enabled
-
-                            property bool calibrated: _activeJoystick.calibrated
-
-                            onClicked:  _activeJoystick.enabled = checked
-                        }
-
                         Column {
                             spacing: ScreenTools.defaultFontPixelHeight / 3
 

src/VehicleSetup/JoystickConfigController.cc

@@ -56,21 +56,24 @@ const char*  JoystickConfigController::_imagePitchDown =    "joystickPitchDown.p
 
 const char* JoystickConfigController::_settingsGroup = "Joysticks";
 
-JoystickConfigController::JoystickConfigController(void) :
-    _currentStep(-1),
-    _axisCount(0),
-    _calState(calStateAxisWait),
-    _statusText(NULL),
-    _cancelButton(NULL),
-    _nextButton(NULL),
-    _skipButton(NULL)
-{
-    // FIXME: Needs to handle active joystick change
-    connect(JoystickManager::instance()->activeJoystick(), &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
-    JoystickManager::instance()->activeJoystick()->startPolling();
-    _loadSettings();
+JoystickConfigController::JoystickConfigController(void)
+    : _activeJoystick(NULL)
+    , _currentStep(-1)
+    , _axisCount(0)
+    , _calState(calStateAxisWait)
+    , _statusText(NULL)
+    , _cancelButton(NULL)
+    , _nextButton(NULL)
+    , _skipButton(NULL)
+{
+    JoystickManager* joystickManager = JoystickManager::instance();
+    
+    connect(joystickManager, &JoystickManager::activeJoystickChanged, this, &JoystickConfigController::_activeJoystickChanged);
     
+    _activeJoystickChanged(joystickManager->activeJoystick());
+    _loadSettings();
     _resetInternalCalibrationValues();
+    _activeJoystick->startCalibration();
 }
 
 void JoystickConfigController::start(void)
@@ -81,6 +84,7 @@ void JoystickConfigController::start(void)
 
 JoystickConfigController::~JoystickConfigController()
 {
+    _activeJoystick->stopCalibration();
     _storeSettings();
 }
 
@@ -551,8 +555,6 @@ void JoystickConfigController::_startCalibration(void)
     
     _currentStep = 0;
     _setupCurrentState();
-    
-    JoystickManager::instance()->activeJoystick()->setCalibrating(true);
 }
 
 /// @brief Cancels the calibration process, setting things back to initial state.
@@ -570,8 +572,6 @@ void JoystickConfigController::_stopCalibration(void)
     _skipButton->setEnabled(false);
     
     _setHelpImage(_imageCenter);
-    
-    JoystickManager::instance()->activeJoystick()->setCalibrating(false);
 }
 
 /// @brief Saves the current axis values, so that we can detect when the use moves an input.
@@ -737,3 +737,16 @@ void JoystickConfigController::_signalAllAttiudeValueChanges(void)
     emit yawAxisReversedChanged(yawAxisReversed());
     emit throttleAxisReversedChanged(throttleAxisReversed());
 }
+
+void JoystickConfigController::_activeJoystickChanged(Joystick* joystick)
+{
+    if (_activeJoystick) {
+        disconnect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
+        _activeJoystick = NULL;
+    }
+    
+    if (joystick) {
+        _activeJoystick = joystick;
+        connect(_activeJoystick, &Joystick::rawAxisValueChanged, this, &JoystickConfigController::_axisValueChanged);
+    }
+}

src/VehicleSetup/JoystickConfigController.h

@@ -126,6 +126,7 @@ signals:
     void nextButtonMessageBoxDisplayed(void);
 
 private slots:
+    void _activeJoystickChanged(Joystick* joystick);
     void _axisValueChanged(int axis, int value);
    
 private:
@@ -161,6 +162,8 @@ private:
         int                         axisTrim;   ///< Trim position
     };
     
+    Joystick* _activeJoystick;
+    
     int _currentStep;  ///< Current step of state machine
     
     const struct stateMachineEntry* _getStateMachineEntry(int step);

src/VehicleSetup/SetupView.qml

@@ -198,6 +198,7 @@ Rectangle {
             SubMenuButton {
                 width:          buttonWidth
                 imageResource:  modelData.iconResource
+                setupIndicator: modelData.requiresSetup
                 setupComplete:  modelData.setupComplete
                 exclusiveGroup: setupButtonGroup
                 text:           modelData.name.toUpperCase()