Refactor parameter apis from AutoPilotPlugin to ParameterManager

QGCCommon.pri

@@ -66,7 +66,7 @@ linux {
         } else {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
         }
-        QMAKE_MAC_SDK = macosx10.11
+        QMAKE_MAC_SDK = macosx10.12
         QMAKE_CXXFLAGS += -fvisibility=hidden
     } else {
         error("Unsupported Mac toolchain, only 64-bit LLVM+clang is supported")

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -7,12 +7,9 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "APMAirframeComponent.h"
 #include "ArduCopterFirmwarePlugin.h"
+#include "ParameterManager.h"
 
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
@@ -52,7 +49,7 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
+        return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FRAME"))->rawValue().toInt() >= 0;
     } else {
         return true;
     }

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

@@ -18,6 +18,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCApplication.h"
 #include "QGCFileDownload.h"
+#include "ParameterManager.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -107,7 +108,7 @@ void APMAirframeComponentController::_loadParametersFromDownloadFile(const QStri
         }
     }
     qgcApp()->restoreOverrideCursor();
-    _autopilot->refreshAllParameters();
+    _vehicle->parameterManager()->refreshAllParameters();
 }
 
 APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -59,9 +59,7 @@ APMAutoPilotPlugin::~APMAutoPilotPlugin()
 const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {
-        Q_ASSERT(_vehicle);
-
-        if (parametersReady()) {
+        if (_vehicle->parameterManager()->parametersReady()) {
             _airframeComponent = new APMAirframeComponent(_vehicle, this);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
@@ -107,7 +105,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
             _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
 
             //-- Is there an ESP8266 Connected?
-            if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
+            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                 _esp8266Component = new ESP8266Component(_vehicle, this);
                 _esp8266Component->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
@@ -119,25 +117,3 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 
     return _components;
 }
-
-/// This will perform various checks prior to signalling that the plug in ready
-void APMAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
-{
-#if 0
-    I believe APM has parameter version stamp, we should check that
-
-            // Check for older parameter version set
-            // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
-            // should be used instead.
-            if (parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF")) {
-        _incorrectParameterVersion = true;
-        qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
-                              "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
-    }
-#endif
-    Q_UNUSED(missingParameters);
-    _parametersReady = true;
-    _missingParameters = false; // we apply only the parameters that do exists on the FactSystem.
-    emit missingParametersChanged(_missingParameters);
-    emit parametersReadyChanged(_parametersReady);
-}

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -52,10 +52,6 @@ public:
     APMTuningComponent*         tuningComponent     (void) const { return _tuningComponent; }
     ESP8266Component*           esp8266Component    (void) const { return _esp8266Component; }
 
-public slots:
-    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
-    void _parametersReadyPreChecks(bool missingParameters);
-
 private:
     bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
     QVariantList            _components;

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -10,6 +10,7 @@
 
 #include "APMCompassCal.h"
 #include "AutoPilotPlugin.h"
+#include "ParameterManager.h"
 
 QGC_LOGGING_CATEGORY(APMCompassCalLog, "APMCompassCalLog")
 
@@ -613,11 +614,11 @@ void APMCompassCal::startCalibration(void)
         _calWorkerThread->rgCompassAvailable[i] = true;
 
         const char* deviceIdParam = CalWorkerThread::rgCompassParams[i][3];
-        if (_vehicle->parameterExists(-1, deviceIdParam)) {
-            _calWorkerThread->rgCompassAvailable[i] = _vehicle->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0;
+        if (_vehicle->parameterManager()->parameterExists(-1, deviceIdParam)) {
+            _calWorkerThread->rgCompassAvailable[i] = _vehicle->parameterManager()->getParameter(-1, deviceIdParam)->rawValue().toInt() > 0;
             for (int j=0; j<3; j++) {
                 const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-                Fact* paramFact = _vehicle->getParameterFact(-1, offsetParam);
+                Fact* paramFact = _vehicle->parameterManager()->getParameter(-1, offsetParam);
 
                 _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat();
                 paramFact->setRawValue(0.0);
@@ -639,8 +640,8 @@ void APMCompassCal::cancelCalibration(void)
     for (int i=0; i<3; i++) {
         for (int j=0; j<3; j++) {
             const char* offsetParam = CalWorkerThread::rgCompassParams[i][j];
-            if (_vehicle->parameterExists(-1, offsetParam)) {
-                _vehicle->getParameterFact(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
+            if (_vehicle->parameterManager()->parameterExists(-1, offsetParam)) {
+                _vehicle->parameterManager()->getParameter(-1, offsetParam)-> setRawValue(_rgSavedCompassOffsets[i][j]);
             }
         }
     }

src/AutoPilotPlugins/APM/APMPowerComponent.cc

@@ -11,6 +11,7 @@
 #include "APMPowerComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMPowerComponent::APMPowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent),
@@ -40,7 +41,7 @@ bool APMPowerComponent::requiresSetup(void) const
 
 bool APMPowerComponent::setupComplete(void) const
 {
-    return _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
+    return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("BATT_CAPACITY"))->rawValue().toInt() != 0;
 }
 
 QStringList APMPowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/APM/APMRadioComponent.cc

@@ -11,6 +11,7 @@
 #include "APMRadioComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(vehicle, autopilot, parent),
@@ -19,7 +20,7 @@ APMRadioComponent::APMRadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilo
     _mapParams << QStringLiteral("RCMAP_ROLL") << QStringLiteral("RCMAP_PITCH") << QStringLiteral("RCMAP_YAW") << QStringLiteral("RCMAP_THROTTLE");
 
     foreach (const QString& mapParam, _mapParams) {
-        Fact* fact = _vehicle->getParameterFact(-1, mapParam);
+        Fact* fact = _vehicle->parameterManager()->getParameter(-1, mapParam);
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }
 
@@ -56,7 +57,7 @@ bool APMRadioComponent::setupComplete(void) const
 
     // First check for all attitude controls mapped
     for (int i=0; i<_mapParams.count(); i++) {
-        mapValues << _vehicle->getParameterFact(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
+        mapValues << _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _mapParams[i])->rawValue().toInt();
         if (mapValues[i] <= 0) {
             return false;
         }
@@ -64,14 +65,14 @@ bool APMRadioComponent::setupComplete(void) const
 
     // Next check RC#_MIN/MAX/TRIM all at defaults
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _vehicle->getParameterFact(-1, mapParam)->rawValue().toInt();
-        if (_vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
+        int channel = _vehicle->parameterManager()->getParameter(-1, mapParam)->rawValue().toInt();
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_MIN").arg(channel))->rawValue().toInt() != 1100) {
             return true;
         }
-        if (_vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_MAX").arg(channel))->rawValue().toInt() != 1900) {
             return true;
         }
-        if (_vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
+        if (_vehicle->parameterManager()->getParameter(-1, QString("RC%1_TRIM").arg(channel))->rawValue().toInt() != 1500) {
             return true;
         }
     }
@@ -116,17 +117,17 @@ void APMRadioComponent::_connectSetupTriggers(void)
 
     // Get the channels for attitude controls and connect to those values for triggers
     foreach (const QString& mapParam, _mapParams) {
-        int channel = _vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
+        int channel = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, mapParam)->rawValue().toInt();
 
-        Fact* fact = _vehicle->getParameterFact(-1, QString("RC%1_MIN").arg(channel));
+        Fact* fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_MIN").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _vehicle->getParameterFact(-1, QString("RC%1_MAX").arg(channel));
+        fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_MAX").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
 
-        fact = _vehicle->getParameterFact(-1, QString("RC%1_TRIM").arg(channel));
+        fact = _vehicle->parameterManager()->getParameter(-1, QString("RC%1_TRIM").arg(channel));
         _triggerFacts << fact;
         connect(fact, &Fact::valueChanged, this, &APMRadioComponent::_triggerChanged);
     }

src/AutoPilotPlugins/APM/APMSensorsComponent.cc

@@ -12,6 +12,7 @@
 #include "APMAutoPilotPlugin.h"
 #include "APMSensorsComponentController.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 // These two list must be kept in sync
 
@@ -62,7 +63,7 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
     // Accelerometer triggers
     triggers << "INS_ACCOFFS_X" << "INS_ACCOFFS_Y" << "INS_ACCOFFS_Z";
 
-    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         triggers << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
         triggers << QStringLiteral("INS_ACC2OFFS_X") << QStringLiteral("INS_ACC2OFFS_Y") << QStringLiteral("INS_ACC2OFFS_Z");
         triggers << QStringLiteral("INS_ACC3OFFS_X") << QStringLiteral("INS_ACC3OFFS_Y") << QStringLiteral("INS_ACC3OFFS_Z");
@@ -108,10 +109,10 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
     rgOffsets[2] << QStringLiteral("COMPASS_OFS3_X") << QStringLiteral("COMPASS_OFS3_Y") << QStringLiteral("COMPASS_OFS3_Z");
 
     for (size_t i=0; i<cCompass; i++) {
-        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
-            _vehicle->getParameterFact(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
+        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgDevicesIds[i])->rawValue().toInt() != 0 &&
+            _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgCompassUse[i])->rawValue().toInt() != 0) {
             for (size_t j=0; j<cOffset; j++) {
-                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgOffsets[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }
@@ -133,7 +134,7 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     rgOffsets.clear();
 
     // This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
-    if (_vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("INS_USE"))) {
         rgUse << QStringLiteral("INS_USE") << QStringLiteral("INS_USE2") << QStringLiteral("INS_USE3");
 
         // We have usage information for the remaining accels, so we can test them sa well
@@ -147,9 +148,9 @@ bool APMSensorsComponent::accelSetupNeeded(void) const
     }
 
     for (int i=0; i<rgAccels.count(); i++) {
-        if (rgUse.count() == 0 || _vehicle->getParameterFact(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
+        if (rgUse.count() == 0 || _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgUse[i])->rawValue().toInt() != 0) {
             for (int j=0; j<rgAccels[0].count(); j++) {
-                if (_vehicle->getParameterFact(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
+                if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, rgAccels[i][j])->rawValue().toFloat() == 0.0f) {
                     return true;
                 }
             }

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -13,6 +13,7 @@
 #include "UAS.h"
 #include "QGCApplication.h"
 #include "APMAutoPilotPlugin.h"
+#include "ParameterManager.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -214,9 +215,7 @@ void APMSensorsComponentController::_handleUASTextMessage(int uasId, int compId,
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    if (uasId != uas->getUASID()) {
+    if (uasId != _vehicle->id()) {
         return;
     }
 
@@ -428,12 +427,12 @@ void APMSensorsComponentController::_refreshParams(void)
     fastRefreshList << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X") << QStringLiteral("COMPASS_OFS_X")
                     << QStringLiteral("INS_ACCOFFS_X") << QStringLiteral("INS_ACCOFFS_Y") << QStringLiteral("INS_ACCOFFS_Z");
     foreach (const QString &paramName, fastRefreshList) {
-        _autopilot->refreshParameter(FactSystem::defaultComponentId, paramName);
+        _vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, paramName);
     }
     
     // Now ask for all to refresh
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("COMPASS_"));
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("INS_"));
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("COMPASS_"));
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, QStringLiteral("INS_"));
 }
 
 void APMSensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)

src/AutoPilotPlugins/APM/APMTuningComponent.cc

@@ -11,6 +11,7 @@
 #include "APMTuningComponent.h"
 #include "APMAutoPilotPlugin.h"
 #include "APMAirframeComponent.h"
+#include "ParameterManager.h"
 
 APMTuningComponent::APMTuningComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
     : VehicleComponent(vehicle, autopilot, parent)
@@ -60,7 +61,7 @@ QUrl APMTuningComponent::setupSource(void) const
         case MAV_TYPE_OCTOROTOR:
         case MAV_TYPE_TRICOPTER:
             // Older firmwares do not have CH9_OPT, we don't support Tuning on older firmwares
-            if (_vehicle->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
+            if (_vehicle->parameterManager()->parameterExists(-1, QStringLiteral("CH9_OPT"))) {
                 qmlFile = QStringLiteral("qrc:/qml/APMTuningComponentCopter.qml");
             }
             break;

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -21,15 +21,9 @@ AutoPilotPlugin::AutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)
     , _firmwarePlugin(vehicle->firmwarePlugin())
-    , _parametersReady(false)
-    , _missingParameters(false)
 	, _setupComplete(false)
 {
-    Q_ASSERT(vehicle);
-	
-	connect(_vehicle->uas(), &UASInterface::disconnected, this, &AutoPilotPlugin::_uasDisconnected);
 
-	connect(this, &AutoPilotPlugin::parametersReadyChanged, this, &AutoPilotPlugin::_parametersReadyChanged);
 }
 
 AutoPilotPlugin::~AutoPilotPlugin()
@@ -37,26 +31,6 @@ AutoPilotPlugin::~AutoPilotPlugin()
     
 }
 
-void AutoPilotPlugin::_uasDisconnected(void)
-{
-	_parametersReady = false;
-	emit parametersReadyChanged(_parametersReady);
-}
-
-void AutoPilotPlugin::_parametersReadyChanged(bool parametersReady)
-{
-	if (parametersReady) {
-		_recalcSetupComplete();
-		if (!_setupComplete) {
-            qgcApp()->showMessage("One or more vehicle components require setup prior to flight.");
-			
-			// Take the user to Vehicle Summary
-            qgcApp()->showSetupView();
-			qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-		}
-	}
-}
-
 void AutoPilotPlugin::_recalcSetupComplete(void)
 {
 	bool newSetupComplete = true;
@@ -79,81 +53,17 @@ void AutoPilotPlugin::_recalcSetupComplete(void)
 
 bool AutoPilotPlugin::setupComplete(void)
 {
-	Q_ASSERT(_parametersReady);
 	return _setupComplete;
 }
 
-void AutoPilotPlugin::resetAllParametersToDefaults(void)
-{
-    mavlink_message_t msg;
-    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
-
-    mavlink_msg_command_long_pack(mavlink->getSystemId(),
-                                  mavlink->getComponentId(),
-                                  &msg,
-                                  _vehicle->id(),                   // Target systeem
-                                  _vehicle->defaultComponentId(),   // Target component
-                                  MAV_CMD_PREFLIGHT_STORAGE,
-                                  0,                                // Confirmation
-                                  2,                                // 2 = Reset params to default
-                                  -1,                               // -1 = No change to mission storage
-                                  0,                                // 0 = Ignore
-                                  0, 0, 0, 0);                      // Unused
-    _vehicle->sendMessageOnPriorityLink(msg);
-}
-
-void AutoPilotPlugin::refreshAllParameters(unsigned char componentID)
-{
-    _vehicle->getParameterManager()->refreshAllParameters((uint8_t)componentID);
-}
-
-void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
-{
-    _vehicle->getParameterManager()->refreshParameter(componentId, name);
-}
-
-void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
+void AutoPilotPlugin::parametersReadyPreChecks(void)
 {
-    _vehicle->getParameterManager()->refreshParametersPrefix(componentId, namePrefix);
-}
+    _recalcSetupComplete();
+    if (!_setupComplete) {
+        qgcApp()->showMessage("One or more vehicle components require setup prior to flight.");
 
-bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
-{
-    switch (provider) {
-        case FactSystem::ParameterProvider:
-            return _vehicle->getParameterManager()->parameterExists(componentId, name);
-            
-        // Other providers will go here once they come online
+        // Take the user to Vehicle Summary
+        qgcApp()->showSetupView();
+        qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    
-    Q_ASSERT(false);
-    return false;
-}
-
-Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId, const QString& name)
-{
-    switch (provider) {
-        case FactSystem::ParameterProvider:
-            return _vehicle->getParameterManager()->getFact(componentId, name);
-            
-        // Other providers will go here once they come online
-    }
-    
-    Q_ASSERT(false);
-    return NULL;
-}
-
-QStringList AutoPilotPlugin::parameterNames(int componentId)
-{
-    return _vehicle->getParameterManager()->parameterNames(componentId);
-}
-
-void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
-{
-    _vehicle->getParameterManager()->writeParametersToStream(stream);
-}
-
-QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
-{
-    return _vehicle->getParameterManager()->readParametersFromStream(stream);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -38,68 +38,24 @@ public:
     AutoPilotPlugin(Vehicle* vehicle, QObject* parent);
     ~AutoPilotPlugin();
 
-    /// true: parameters are ready for use
-    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
-
-    /// true: parameters are missing from firmware response, false: all parameters received from firmware
-    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
-
     /// List of VehicleComponent objects
     Q_PROPERTY(QVariantList vehicleComponents READ vehicleComponents CONSTANT)
 
     /// false: One or more vehicle components require setup
     Q_PROPERTY(bool setupComplete READ setupComplete NOTIFY setupCompleteChanged)
 
-    /// Reset all parameters to their default values
-    Q_INVOKABLE void resetAllParametersToDefaults(void);
-
-    /// Re-request the full set of parameters from the autopilot
-    Q_INVOKABLE void refreshAllParameters(unsigned char componentID = MAV_COMP_ID_ALL);
-
-    /// Request a refresh on the specific parameter
-    Q_INVOKABLE void refreshParameter(int componentId, const QString& name);
-
-    /// Request a refresh on all parameters that begin with the specified prefix
-    Q_INVOKABLE void refreshParametersPrefix(int componentId, const QString& namePrefix);
-
-    /// Returns all parameter names
-    QStringList parameterNames(int componentId);
-
-    /// Writes the parameter facts to the specified stream
-    void writeParametersToStream(QTextStream &stream);
-
-    /// Reads the parameters from the stream and updates values
-    /// @return Errors during load. Empty string for no errors
-    QString readParametersFromStream(QTextStream &stream);
-
-    /// Returns true if the specifed fact exists
-    Q_INVOKABLE bool factExists(FactSystem::Provider_t  provider,       ///< fact provider
-                                int                     componentId,    ///< fact component, -1=default component
-                                const QString&          name);          ///< fact name
-
-    /// Returns the specified Fact.
-    /// WARNING: Will assert if fact does not exists. If that possibility exists, check for existence first with
-    /// factExists.
-    Fact* getFact(FactSystem::Provider_t    provider,       ///< fact provider
-                  int                       componentId,    ///< fact component, -1=default component
-                  const QString&            name);          ///< fact name
+    /// Called when parameters are ready for the first time. Note that parameters may still be missing.
+    /// Overrides must call base class.
+    virtual void parametersReadyPreChecks(void);
 
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
 
     // Property accessors
-    bool parametersReady(void) { return _parametersReady; }
-    bool missingParameters(void) { return _missingParameters; }
     bool setupComplete(void);
 
-    Vehicle* vehicle(void) { return _vehicle; }
-    virtual void _parametersReadyPreChecks(bool parametersReady) = 0;
-
 signals:
-    void parametersReadyChanged(bool parametersReady);
-    void missingParametersChanged(bool missingParameters);
     void setupCompleteChanged(bool setupComplete);
-    void parameterListProgress(float value);
 
 protected:
     /// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
@@ -107,15 +63,8 @@ protected:
 
     Vehicle*        _vehicle;
     FirmwarePlugin* _firmwarePlugin;
-    bool            _parametersReady;
-    bool            _missingParameters;
     bool            _setupComplete;
 
-
-private slots:
-    void _uasDisconnected(void);
-    void _parametersReadyChanged(bool parametersReady);
-
 private:
     void _recalcSetupComplete(void);
 };

src/AutoPilotPlugins/Common/ESP8266ComponentController.cc

@@ -16,6 +16,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCApplication.h"
 #include "UAS.h"
+#include "ParameterManager.h"
 
 #include <QHostAddress>
 #include <QtEndian>
@@ -393,7 +394,7 @@ ESP8266ComponentController::_commandAck(uint8_t compID, uint16_t command, uint8_
             emit busyChanged();
             qCDebug(ESP8266ComponentControllerLog) << "_commandAck for" << command;
             if(command == MAV_CMD_PREFLIGHT_STORAGE) {
-                _autopilot->refreshAllParameters(MAV_COMP_ID_UDP_BRIDGE);
+                _vehicle->parameterManager()->refreshAllParameters(MAV_COMP_ID_UDP_BRIDGE);
             }
         }
     }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -25,12 +25,3 @@ const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)
     
     return emptyList;
 }
-
-/// This will perform various checks prior to signalling that the plug in ready
-void GenericAutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
-{
-    _parametersReady = true;
-    _missingParameters = missingParameters;
-    emit missingParametersChanged(_missingParameters);
-    emit parametersReadyChanged(_parametersReady);
-}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -27,10 +27,6 @@ public:
     
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
-    
-public slots:
-    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
-    void _parametersReadyPreChecks(bool missingParameters);
 };
 
 #endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -13,6 +13,7 @@
 
 #include "AirframeComponent.h"
 #include "QGCQmlWidgetHolder.h"
+#include "ParameterManager.h"
 
 #if 0
 // Broken by latest mavlink module changes. Not used yet. Comment out for now.
@@ -129,7 +130,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
+    return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 }
 
 QStringList AirframeComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,17 +43,17 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         return true;
     }
 
-    if (_vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
-            (_vehicle->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
+    if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0 ||
+            (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "RC_MAP_FLTMODE") && _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_FLTMODE")->rawValue().toInt() != 0)) {
         return true;
     }
 
@@ -81,7 +81,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         // No RC input
         return QString();
     } else {
@@ -92,7 +92,7 @@ QString FlightModesComponent::prerequisiteSetup(void) const
             return plugin->airframeComponent()->name();
         } else if (!plugin->radioComponent()->setupComplete()) {
             return plugin->radioComponent()->name();
-        } else if (!plugin->vehicle()->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
+        } else if (!_vehicle->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
             return plugin->sensorsComponent()->name();
         }
     }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -52,7 +52,7 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     if (_components.count() == 0 && !_incorrectParameterVersion) {
         Q_ASSERT(_vehicle);
 
-        if (parametersReady()) {
+        if (_vehicle->parameterManager()->parametersReady()) {
             _airframeComponent = new AirframeComponent(_vehicle, this);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
@@ -91,14 +91,14 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _components.append(QVariant::fromValue((VehicleComponent*)_tuningComponent));
 
             //-- Is there support for cameras?
-            if(factExists(FactSystem::ParameterProvider, _vehicle->id(), "TRIG_MODE")) {
+            if(_vehicle->parameterManager()->parameterExists(_vehicle->id(), "TRIG_MODE")) {
                 _cameraComponent = new CameraComponent(_vehicle, this);
                 _cameraComponent->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_cameraComponent));
             }
 
             //-- Is there an ESP8266 Connected?
-            if(factExists(FactSystem::ParameterProvider, MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
+            if(_vehicle->parameterManager()->parameterExists(MAV_COMP_ID_UDP_BRIDGE, "SW_VER")) {
                 _esp8266Component = new ESP8266Component(_vehicle, this);
                 _esp8266Component->setupTriggerSignals();
                 _components.append(QVariant::fromValue((VehicleComponent*)_esp8266Component));
@@ -111,21 +111,18 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
     return _components;
 }
 
-/// This will perform various checks prior to signalling that the plug in ready
-void PX4AutoPilotPlugin::_parametersReadyPreChecks(bool missingParameters)
+void PX4AutoPilotPlugin::parametersReadyPreChecks(void)
 {
+    // Base class must be called
+    AutoPilotPlugin::parametersReadyPreChecks();
+
     // Check for older parameter version set
     // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp
     // should be used instead.
-    if (_vehicle->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
-            _vehicle->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
+    if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") ||
+            _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) {
         _incorrectParameterVersion = true;
         qgcApp()->showMessage("This version of GroundControl can only perform vehicle setup on a newer version of firmware. "
                               "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.");
     }
-
-    _parametersReady = true;
-    _missingParameters = missingParameters;
-    emit missingParametersChanged(_missingParameters);
-    emit parametersReadyChanged(_parametersReady);
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -40,7 +40,8 @@ public:
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin
-    virtual const QVariantList& vehicleComponents(void);
+    const QVariantList& vehicleComponents(void) final;
+    void parametersReadyPreChecks(void) final;
 
     // These methods should only be used by objects within the plugin
     AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
@@ -54,10 +55,6 @@ public:
     MotorComponent*         motorComponent(void)        { return _motorComponent; }
     PX4TuningComponent*     tuningComponent(void)       { return _tuningComponent; }
 
-public slots:
-    // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
-    void _parametersReadyPreChecks(bool missingParameters);
-
 private:
     PX4AirframeLoader*      _airframeFacts;
     QVariantList            _components;

src/AutoPilotPlugins/PX4/PX4RadioComponent.cc

@@ -35,18 +35,18 @@ QString PX4RadioComponent::iconResource(void) const
 
 bool PX4RadioComponent::requiresSetup(void) const
 {
-    return _vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
+    return _vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool PX4RadioComponent::setupComplete(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().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(const QString &mapParam, attitudeMappings) {
-            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
+            if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
                 return false;
             }
         }
@@ -76,7 +76,7 @@ QUrl PX4RadioComponent::summaryQmlSource(void) const
 
 QString PX4RadioComponent::prerequisiteSetup(void) const
 {
-    if (_vehicle->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
+    if (_vehicle->parameterManager()->getParameter(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
         
         if (!plugin->airframeComponent()->setupComplete()) {

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -44,9 +44,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    return _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
-        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
-        _vehicle->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
+    return _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
+        _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
+        _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
 }
 
 QStringList PowerComponent::setupCompleteChangedTriggerList(void) const

src/AutoPilotPlugins/PX4/PowerComponentController.cc

@@ -58,9 +58,7 @@ void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    if (uasId != uas->getUASID()) {
+    if (uasId != _vehicle->id()) {
         return;
     }
     

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -49,14 +49,14 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach (const QString &triggerParam, _deviceIds) {
-        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
             return false;
         }
     }
 
     if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
-            if (_vehicle->getParameterFact(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
+        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
+            if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
                 return false;
             }
         }

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -15,6 +15,7 @@
 #include "QGCMAVLink.h"
 #include "UAS.h"
 #include "QGCApplication.h"
+#include "ParameterManager.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -219,9 +220,7 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
     Q_UNUSED(compId);
     Q_UNUSED(severity);
     
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    if (uasId != uas->getUASID()) {
+    if (uasId != _vehicle->id()) {
         return;
     }
     
@@ -306,9 +305,9 @@ void SensorsComponentController::_handleUASTextMessage(int uasId, int compId, in
                 // Work out what the autopilot is configured to
                 int sides = 0;
 
-                if (_vehicle->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
+                if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "CAL_MAG_SIDES")) {
                     // Read the requested calibration directions off the system
-                    sides = _vehicle->getParameterFact(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
+                    sides = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "CAL_MAG_SIDES")->rawValue().toFloat();
                 } else {
                     // There is no valid setting, default to all six sides
                     sides = (1 << 5) | (1 << 4) | (1 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
@@ -449,12 +448,12 @@ void SensorsComponentController::_refreshParams(void)
     // We ask for a refresh on these first so that the rotation combo show up as fast as possible
     fastRefreshList << "CAL_MAG0_ID" << "CAL_MAG1_ID" << "CAL_MAG2_ID" << "CAL_MAG0_ROT" << "CAL_MAG1_ROT" << "CAL_MAG2_ROT";
     foreach (const QString &paramName, fastRefreshList) {
-        _autopilot->refreshParameter(FactSystem::defaultComponentId, paramName);
+        _vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, paramName);
     }
     
     // Now ask for all to refresh
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "CAL_");
-    _autopilot->refreshParametersPrefix(FactSystem::defaultComponentId, "SENS_");
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, "CAL_");
+    _vehicle->parameterManager()->refreshParametersPrefix(FactSystem::defaultComponentId, "SENS_");
 }
 
 void SensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)

src/FactSystem/FactControls/FactPanelController.cc

@@ -7,11 +7,11 @@
  *
  ****************************************************************************/
 
-
 #include "FactPanelController.h"
 #include "MultiVehicleManager.h"
 #include "UAS.h"
 #include "QGCApplication.h"
+#include "ParameterManager.h"
 
 #include <QQmlEngine>
 
@@ -104,7 +104,7 @@ bool FactPanelController::_allParametersExists(int componentId, QStringList name
     bool noMissingFacts = true;
 
     foreach (const QString &name, names) {
-        if (_vehicle && !_vehicle->parameterExists(componentId, name)) {
+        if (_vehicle && !_vehicle->parameterManager()->parameterExists(componentId, name)) {
             _reportMissingParameter(componentId, name);
             noMissingFacts = false;
         }
@@ -122,8 +122,8 @@ void FactPanelController::_checkForMissingFactPanel(void)
 
 Fact* FactPanelController::getParameterFact(int componentId, const QString& name, bool reportMissing)
 {
-    if (_vehicle && _vehicle->parameterExists(componentId, name)) {
-        Fact* fact = _vehicle->getParameterFact(componentId, name);
+    if (_vehicle && _vehicle->parameterManager()->parameterExists(componentId, name)) {
+        Fact* fact = _vehicle->parameterManager()->getParameter(componentId, name);
         QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
         return fact;
     } else {
@@ -135,7 +135,7 @@ Fact* FactPanelController::getParameterFact(int componentId, const QString& name
 
 bool FactPanelController::parameterExists(int componentId, const QString& name)
 {
-    return _vehicle ? _vehicle->parameterExists(componentId, name) : false;
+    return _vehicle ? _vehicle->parameterManager()->parameterExists(componentId, name) : false;
 }
 
 void FactPanelController::_showInternalError(const QString& errorMsg)

src/FactSystem/FactSystemTestBase.cc

@@ -19,6 +19,7 @@
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
 #include "QGCQuickWidget.h"
+#include "ParameterManager.h"
 
 #include <QQuickItem>
 
@@ -46,8 +47,8 @@ void FactSystemTestBase::_cleanup(void)
 /// Basic test of parameter values in Fact System
 void FactSystemTestBase::_parameter_default_component_id_test(void)
 {
-    QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
-    Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
+    QVERIFY(_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
+    Fact* fact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
     QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);
@@ -57,8 +58,8 @@ void FactSystemTestBase::_parameter_default_component_id_test(void)
 
 void FactSystemTestBase::_parameter_specific_component_id_test(void)
 {
-    QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE"));
-    Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE");
+    QVERIFY(_vehicle->parameterManager()->parameterExists(50, "RC_MAP_THROTTLE"));
+    Fact* fact = _vehicle->parameterManager()->getParameter(50, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
     QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);
@@ -96,7 +97,7 @@ void FactSystemTestBase::_qmlUpdate_test(void)
     // Change the value
 
     QVariant paramValue = 12;
-    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
+    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->parameterManager()->getParameter(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
 
     QTest::qWait(500); // Let the signals flow through
 

src/FactSystem/ParameterManager.cc

@@ -47,6 +47,7 @@ ParameterManager::ParameterManager(Vehicle* vehicle)
     , _vehicle(vehicle)
     , _mavlink(NULL)
     , _parametersReady(false)
+    , _missingParameters(false)
     , _initialLoadComplete(false)
     , _waitingForDefaultComponent(false)
     , _saveRequired(false)
@@ -95,17 +96,17 @@ ParameterManager::~ParameterManager()
 }
 
 /// Called whenever a parameter is updated or first seen.
-void ParameterManager::_parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value)
+void ParameterManager::_parameterUpdate(int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value)
 {
     // Is this for our uas?
-    if (uasId != _vehicle->id()) {
+    if (vehicleId != _vehicle->id()) {
         return;
     }
 
     _initialRequestTimeoutTimer.stop();
 
     if (_initialLoadComplete) {
-        qCDebug(ParameterManagerLog) << "_parameterUpdate (id:" << uasId <<
+        qCDebug(ParameterManagerLog) << "_parameterUpdate (id:" << vehicleId <<
                                         "componentId:" << componentId <<
                                         "name:" << parameterName <<
                                         "count:" << parameterCount <<
@@ -115,7 +116,7 @@ void ParameterManager::_parameterUpdate(int uasId, int componentId, QString para
                                         ")";
     } else {
         // This is too noisy during initial load
-        qCDebug(ParameterManagerVerboseLog) << "_parameterUpdate (id:" << uasId <<
+        qCDebug(ParameterManagerVerboseLog) << "_parameterUpdate (id:" << vehicleId <<
                                        "componentId:" << componentId <<
                                        "name:" << parameterName <<
                                        "count:" << parameterCount <<
@@ -143,7 +144,7 @@ void ParameterManager::_parameterUpdate(int uasId, int componentId, QString para
 
     if (_vehicle->px4Firmware() && parameterName == "_HASH_CHECK") {
         /* we received a cache hash, potentially load from cache */
-        _tryCacheHashLoad(uasId, componentId, value);
+        _tryCacheHashLoad(vehicleId, componentId, value);
         return;
     }
     _dataMutex.lock();
@@ -328,7 +329,7 @@ void ParameterManager::_parameterUpdate(int uasId, int componentId, QString para
     if (_vehicle->px4Firmware()) {
         if (_prevWaitingReadParamIndexCount + _prevWaitingReadParamNameCount != 0 && readWaitingParamCount == 0) {
             // All reads just finished, update the cache
-            _writeLocalParamCache(uasId, componentId);
+            _writeLocalParamCache(vehicleId, componentId);
         }
     }
 
@@ -482,7 +483,7 @@ bool ParameterManager::parameterExists(int componentId, const QString&  name)
     return ret;
 }
 
-Fact* ParameterManager::getFact(int componentId, const QString& name)
+Fact* ParameterManager::getParameter(int componentId, const QString& name)
 {
     componentId = _actualComponentId(componentId);
 
@@ -571,7 +572,7 @@ void ParameterManager::_waitingParamTimeout(void)
                 paramsRequested = true;
                 _waitingWriteParamNameMap[componentId][paramName]++;   // Bump retry count
                 if (_waitingWriteParamNameMap[componentId][paramName] <= _maxReadWriteRetry) {
-                    _writeParameterRaw(componentId, paramName, _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName)->rawValue());
+                    _writeParameterRaw(componentId, paramName, getParameter(componentId, paramName)->rawValue());
                     qCDebug(ParameterManagerLog) << "Write resend for (componentId:" << componentId << "paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")";
                     if (++batchCount > maxBatchSize) {
                         goto Out;
@@ -632,7 +633,7 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN
     mavlink_param_set_t     p;
     mavlink_param_union_t   union_value;
 
-    FactMetaData::ValueType_t factType = _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName)->type();
+    FactMetaData::ValueType_t factType = getParameter(componentId, paramName)->type();
     p.param_type = _factTypeToMavType(factType);
 
     switch (factType) {
@@ -680,7 +681,7 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
-void ParameterManager::_writeLocalParamCache(int uasId, int componentId)
+void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
 {
     MapID2NamedParam cache_map;
 
@@ -690,7 +691,7 @@ void ParameterManager::_writeLocalParamCache(int uasId, int componentId)
         cache_map[id] = NamedParam(name, ParamTypeVal(fact->type(), fact->rawValue()));
     }
 
-    QFile cache_file(parameterCacheFile(uasId, componentId));
+    QFile cache_file(parameterCacheFile(vehicleId, componentId));
     cache_file.open(QIODevice::WriteOnly | QIODevice::Truncate);
 
     QDataStream ds(&cache_file);
@@ -703,17 +704,17 @@ QDir ParameterManager::parameterCacheDir()
     return spath + QDir::separator() + "ParamCache";
 }
 
-QString ParameterManager::parameterCacheFile(int uasId, int componentId)
+QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)
 {
-    return parameterCacheDir().filePath(QString("%1_%2").arg(uasId).arg(componentId));
+    return parameterCacheDir().filePath(QString("%1_%2").arg(vehicleId).arg(componentId));
 }
 
-void ParameterManager::_tryCacheHashLoad(int uasId, int componentId, QVariant hash_value)
+void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVariant hash_value)
 {
     uint32_t crc32_value = 0;
     /* The datastructure of the cache table */
     MapID2NamedParam cache_map;
-    QFile cache_file(parameterCacheFile(uasId, componentId));
+    QFile cache_file(parameterCacheFile(vehicleId, componentId));
     if (!cache_file.exists()) {
         /* no local cache, just wait for them to come in*/
         return;
@@ -743,7 +744,7 @@ void ParameterManager::_tryCacheHashLoad(int uasId, int componentId, QVariant ha
             const QVariant &value = cache_map[id].second.second;
             const FactMetaData::ValueType_t fact_type = static_cast<FactMetaData::ValueType_t>(cache_map[id].second.first);
             const int mavType = _factTypeToMavType(fact_type);
-            _parameterUpdate(uasId, componentId, name, count, id, mavType, value);
+            _parameterUpdate(vehicleId, componentId, name, count, id, mavType, value);
         }
         // Return the hash value to notify we don't want any more updates
         mavlink_param_set_t     p;
@@ -814,7 +815,7 @@ QString ParameterManager::readParametersFromStream(QTextStream& stream)
                 QString valStr = wpParams.at(3);
                 uint    mavType = wpParams.at(4).toUInt();
 
-                if (!_vehicle->autopilotPlugin()->factExists(FactSystem::ParameterProvider, componentId, paramName)) {
+                if (!parameterExists(componentId, paramName)) {
                     QString error;
                     error = QString("Skipped parameter %1:%2 - does not exist on this vehicle\n").arg(componentId).arg(paramName);
                     errors += error;
@@ -822,7 +823,7 @@ QString ParameterManager::readParametersFromStream(QTextStream& stream)
                     continue;
                 }
 
-                Fact* fact = _vehicle->autopilotPlugin()->getFact(FactSystem::ParameterProvider, componentId, paramName);
+                Fact* fact = getParameter(componentId, paramName);
                 if (fact->type() != _mavTypeToFactType((MAV_PARAM_TYPE)mavType)) {
                     QString error;
                     error  = QString("Skipped parameter %1:%2 - type mismatch %3:%4\n").arg(componentId).arg(paramName).arg(fact->type()).arg(_mavTypeToFactType((MAV_PARAM_TYPE)mavType));
@@ -994,7 +995,10 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
             qCDebug(ParameterManagerLog) << "Gave up on initial load after max retries (componentId:" << componentId << "paramIndex:" << paramIndex << ")";
         }
     }
+
+    _missingParameters = false;
     if (initialLoadFailures) {
+        _missingParameters = true;
         qgcApp()->showMessage("QGroundControl was unable to retrieve the full set of parameters from the vehicle. "
                               "This will cause QGroundControl to be unable to display its full user interface. "
                               "If you are using modified firmware, you may need to resolve any vehicle startup errors to resolve the issue. "
@@ -1002,12 +1006,9 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
         if (!qgcApp()->runningUnitTests()) {
             qCWarning(ParameterManagerLog) << "The following parameter indices could not be loaded after the maximum number of retries: " << indexList;
         }
-        emit parametersReady(true /* missingParameters */);
-        return;
-    }
-
-    // Check for missing default component when we should have one
-    if (_defaultComponentId == FactSystem::defaultComponentId && !_defaultComponentIdParam.isEmpty()) {
+    } else if (_defaultComponentId == FactSystem::defaultComponentId && !_defaultComponentIdParam.isEmpty()) {
+        // Missing default component when we should have one
+        _missingParameters = true;
         qgcApp()->showMessage("QGroundControl did not receive parameters from the default component. "
                               "This will cause QGroundControl to be unable to display its full user interface. "
                               "If you are using modified firmware, you may need to resolve any vehicle startup errors to resolve the issue. "
@@ -1015,14 +1016,14 @@ void ParameterManager::_checkInitialLoadComplete(bool failIfNoDefaultComponent)
         if (!qgcApp()->runningUnitTests()) {
             qCWarning(ParameterManagerLog) << "Default component was never found, param:" << _defaultComponentIdParam;
         }
-        emit parametersReady(true /* missingParameters */);
-        return;
     }
 
-    // No failures, signal good load
+    // Signal load complete
     _parametersReady = true;
     _determineDefaultComponentId();
-    emit parametersReady(false /* no missingParameters */);
+    _vehicle->autopilotPlugin()->parametersReadyPreChecks();
+    emit parametersReadyChanged(true);
+    emit missingParametersChanged(_missingParameters);
 }
 
 void ParameterManager::_initialRequestTimeout(void)
@@ -1337,7 +1338,7 @@ void ParameterManager::saveToJson(int componentId, const QStringList& paramsToSa
             }
 
             QJsonObject paramJson;
-            Fact* fact = getFact(compId, paramName);
+            Fact* fact = getParameter(compId, paramName);
             paramJson.insert(_jsonCompIdKey, QJsonValue(compId));
             paramJson.insert(_jsonParamNameKey, QJsonValue(fact->name()));
             paramJson.insert(_jsonParamValueKey, QJsonValue(fact->rawValue().toDouble()));
@@ -1396,10 +1397,29 @@ bool ParameterManager::loadFromJson(const QJsonObject& json, bool required, QStr
             continue;
         }
 
-        Fact* fact = getFact(compId, name);
+        Fact* fact = getParameter(compId, name);
         fact->setRawValue(value);
     }
 
     return true;
 }
 
+void ParameterManager::resetAllParametersToDefaults(void)
+{
+    mavlink_message_t msg;
+    MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
+
+    mavlink_msg_command_long_pack(mavlink->getSystemId(),
+                                  mavlink->getComponentId(),
+                                  &msg,
+                                  _vehicle->id(),                   // Target systeem
+                                  _vehicle->defaultComponentId(),   // Target component
+                                  MAV_CMD_PREFLIGHT_STORAGE,
+                                  0,                                // Confirmation
+                                  2,                                // 2 = Reset params to default
+                                  -1,                               // -1 = No change to mission storage
+                                  0,                                // 0 = Ignore
+                                  0, 0, 0, 0);                      // Unused
+    _vehicle->sendMessageOnPriorityLink(msg);
+}
+

src/FactSystem/ParameterManager.h

@@ -38,17 +38,22 @@ class ParameterManager : public QObject
 public:
     /// @param uas Uas which this set of facts is associated with
     ParameterManager(Vehicle* vehicle);
-    
     ~ParameterManager();
 
+    /// true: Parameters are ready for use
+    Q_PROPERTY(bool parametersReady READ parametersReady NOTIFY parametersReadyChanged)
+    bool parametersReady(void) { return _parametersReady; }
+
+    /// true: Parameters are missing from firmware response, false: all parameters received from firmware
+    Q_PROPERTY(bool missingParameters READ missingParameters NOTIFY missingParametersChanged)
+    bool missingParameters(void) { return _missingParameters; }
+
     /// @return Directory of parameter caches
     static QDir parameterCacheDir();
 
     /// @return Location of parameter cache file
-    static QString parameterCacheFile(int uasId, int componentId);
+    static QString parameterCacheFile(int vehicleId, int componentId);
     
-    /// Returns true if the full set of facts are ready
-    bool parametersAreReady(void) { return _parametersReady; }
 
     /// Re-request the full set of parameters from the autopilot
     void refreshAllParameters(uint8_t componentID = MAV_COMP_ID_ALL);
@@ -59,18 +64,21 @@ public:
     /// Request a refresh on all parameters that begin with the specified prefix
     void refreshParametersPrefix(int componentId, const QString& namePrefix);
     
+    void resetAllParametersToDefaults(void);
+
     /// Returns true if the specifed parameter exists
-    bool parameterExists(int			componentId,    ///< fact component, -1=default component
-						 const QString& name);          ///< fact name
-	
+    ///     @param componentId Component id or FactSystem::defaultComponentId
+    ///     @param name Parameter name
+    bool parameterExists(int componentId, const QString& name);
+
 	/// Returns all parameter names
 	QStringList parameterNames(int componentId);
     
-    /// Returns the specified Fact.
-    /// WARNING: Will assert if parameter does not exists. If that possibily exists, check for existence first with
-    /// parameterExists.
-    Fact* getFact(int               componentId,    ///< fact component, -1=default component
-                  const QString&    name);          ///< fact name
+    /// Returns the specified Parameter. Returns a default empty fact is parameter does not exists. Also will pop
+    /// a missing parameter error to user if parameter does not exist.
+    ///     @param componentId Component id or FactSystem::defaultComponentId
+    ///     @param name Parameter name
+    Fact* getParameter(int componentId, const QString& name);
     
     const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
     
@@ -107,13 +115,15 @@ public:
     /// @return true: success, false: failure (errorString set)
     bool loadFromJson(const QJsonObject& json, bool required, QString& errorString);
 
+    Vehicle* vehicle(void) { return _vehicle; }
+
 signals:
-    /// Signalled when the full set of facts are ready
-    void parametersReady(bool missingParameters);
+    void parametersReadyChanged(bool parametersReady);
+    void missingParametersChanged(bool missingParameters);
 
     /// Signalled to update progress of full parameter list request
     void parameterListProgress(float value);
-    
+
     /// Signalled to ourselves in order to get call on our own thread
     void restartWaitingParamTimer(void);
     
@@ -121,7 +131,7 @@ protected:
     Vehicle*            _vehicle;
     MAVLinkProtocol*    _mavlink;
     
-    void _parameterUpdate(int uasId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
+    void _parameterUpdate(int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
     void _valueUpdated(const QVariant& value);
     void _restartWaitingParamTimer(void);
     void _waitingParamTimeout(void);
@@ -135,8 +145,8 @@ private:
     void _setupGroupMap(void);
     void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
     void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
-    void _writeLocalParamCache(int uasId, int componentId);
-    void _tryCacheHashLoad(int uasId, int componentId, QVariant hash_value);
+    void _writeLocalParamCache(int vehicleId, int componentId);
+    void _tryCacheHashLoad(int vehicleId, int componentId, QVariant hash_value);
     void _addMetaDataToDefaultComponent(void);
     QString _remapParamNameToVersion(const QString& paramName);
     void _loadOfflineEditingParams(void);
@@ -156,7 +166,8 @@ private:
     /// Second mapping is group name, to Fact
     QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
     
-    bool        _parametersReady;               ///< true: full set of parameters correctly loaded
+    bool        _parametersReady;               ///< true: parameter load complete
+    bool        _missingParameters;             ///< true: parameter missing from initial load
     bool        _initialLoadComplete;           ///< true: Initial load of all parameters complete, whether successful or not
     bool        _waitingForDefaultComponent;    ///< true: last chance wait for default component params
     bool        _saveRequired;                  ///< true: _saveToEEPROM should be called

src/FactSystem/ParameterManagerTest.cc

@@ -34,7 +34,7 @@ void ParameterManagerTest::_noFailureWorker(MockConfiguration::FailureMode_t fai
     QVERIFY(vehicle);
 
     // We should get progress bar updates during load
-    QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
+    QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
     QCOMPARE(spyProgress.wait(2000), true);
     arguments = spyProgress.takeFirst();
     QCOMPARE(arguments.count(), 1);
@@ -85,7 +85,7 @@ void ParameterManagerTest::_requestListNoResponse(void)
     QVERIFY(vehicle);
 
     QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
-    QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
+    QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
 
     // We should not get any progress bar updates, nor a parameter ready signal
     QCOMPARE(spyProgress.wait(500), false);
@@ -120,7 +120,7 @@ void ParameterManagerTest::_requestListMissingParamFail(void)
     QVERIFY(vehicle);
 
     QSignalSpy spyParamsReady(vehicleMgr, SIGNAL(parameterReadyVehicleAvailableChanged(bool)));
-    QSignalSpy spyProgress(vehicle->getParameterManager(), SIGNAL(parameterListProgress(float)));
+    QSignalSpy spyProgress(vehicle->parameterManager(), SIGNAL(parameterListProgress(float)));
 
     // We will get progress bar updates, since it will fail after getting partially through the request
     QCOMPARE(spyProgress.wait(2000), true);
@@ -130,7 +130,7 @@ void ParameterManagerTest::_requestListMissingParamFail(void)
 
     // We should get a parameters ready signal, but Vehicle should indicate missing params
     QCOMPARE(spyParamsReady.wait(40000), true);
-    QCOMPARE(vehicle->missingParameters(), true);
+    QCOMPARE(vehicle->parameterManager()->missingParameters(), true);
 
     // User should have been notified
     checkExpectedMessageBox();

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -29,10 +29,10 @@ APMGeoFenceManager::APMGeoFenceManager(Vehicle* vehicle)
     , _fenceEnableFact(NULL)
     , _fenceTypeFact(NULL)
 {
-    connect(_vehicle,                           &Vehicle::mavlinkMessageReceived,   this, &APMGeoFenceManager::_mavlinkMessageReceived);
-    connect(_vehicle->getParameterManager(),    &ParameterManager::parametersReady, this, &APMGeoFenceManager::_parametersReady);
+    connect(_vehicle,                       &Vehicle::mavlinkMessageReceived,           this, &APMGeoFenceManager::_mavlinkMessageReceived);
+    connect(_vehicle->parameterManager(),   &ParameterManager::parametersReadyChanged,  this, &APMGeoFenceManager::_parametersReady);
 
-    if (_vehicle->getParameterManager()->parametersAreReady()) {
+    if (_vehicle->parameterManager()->parametersReady()) {
         _parametersReady();
     }
 }
@@ -75,13 +75,13 @@ void APMGeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, const
     // First thing is to turn off geo fence while we are updating. This prevents the vehicle from going haywire it is in the air.
     // Unfortunately the param to do this with differs between plane and copter.
     const char* enableParam = _vehicle->fixedWing() ? _fenceActionParam : _fenceEnableParam;
-    Fact* fenceEnableFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, enableParam);
+    Fact* fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, enableParam);
     QVariant savedEnableState = fenceEnableFact->rawValue();
     fenceEnableFact->setRawValue(0);
 
     // Total point count, +1 polygon close in last index, +1 for breach in index 0
     _cWriteFencePoints = (validatedPolygonCount ? (validatedPolygonCount + 1) : 0) + 1 ;
-    _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints);
+    _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceTotalParam)->setRawValue(_cWriteFencePoints);
 
     // FIXME: No validation of correct fence received
     for (uint8_t index=0; index<_cWriteFencePoints; index++) {
@@ -108,7 +108,7 @@ void APMGeoFenceManager::loadFromVehicle(void)
     // Point 0: Breach return point (ArduPlane only)
     // Point [1,N]: Polygon points
     // Point N+1: Close polygon point (same as point 1)
-    int cFencePoints = _vehicle->getParameterFact(FactSystem::defaultComponentId, _fenceTotalParam)->rawValue().toInt();
+    int cFencePoints = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _fenceTotalParam)->rawValue().toInt();
     int minFencePoints = 6;
     qCDebug(GeoFenceManagerLog) << "APMGeoFenceManager::loadFromVehicle" << cFencePoints;
     if (cFencePoints == 0) {
@@ -224,8 +224,8 @@ bool APMGeoFenceManager::_geoFenceSupported(void)
         return false;
     }
 
-    if (!_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) ||
-            !_vehicle->parameterExists(FactSystem::defaultComponentId, _fenceActionParam)) {
+    if (!_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceTotalParam) ||
+            !_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, _fenceActionParam)) {
         return false;
     } else {
         return true;
@@ -243,20 +243,20 @@ void APMGeoFenceManager::_parametersReady(void)
     if (!_firstParamLoadComplete) {
         _firstParamLoadComplete = true;
 
-        _fenceSupported = _vehicle->parameterExists(FactSystem::defaultComponentId, QStringLiteral("FENCE_ACTION"));
+        _fenceSupported = _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("FENCE_ACTION"));
 
         if (_fenceSupported) {
             QStringList paramNames;
             QStringList paramLabels;
 
             if (_vehicle->multiRotor()) {
-                _fenceEnableFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FENCE_ENABLE"));
-                _fenceTypeFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
+                _fenceEnableFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_ENABLE"));
+                _fenceTypeFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_TYPE"));
 
                 connect(_fenceEnableFact,   &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateSupportedFlags);
                 connect(_fenceTypeFact,     &Fact::rawValueChanged, this, &APMGeoFenceManager::_updateSupportedFlags);
 
-                _circleRadiusFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FENCE_RADIUS"));
+                _circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("FENCE_RADIUS"));
                 connect(_circleRadiusFact, &Fact::rawValueChanged, this, &APMGeoFenceManager::_circleRadiusRawValueChanged);
                 emit circleRadiusChanged(circleRadius());
 
@@ -275,8 +275,8 @@ void APMGeoFenceManager::_parametersReady(void)
             _paramLabels.clear();
             for (int i=0; i<paramNames.count(); i++) {
                 QString paramName = paramNames[i];
-                if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) {
-                    Fact* paramFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName);
+                if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, paramName)) {
+                    Fact* paramFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName);
                     _params << QVariant::fromValue(paramFact);
                     _paramLabels << paramLabels[i];
                 }

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -14,6 +14,7 @@
 #include "ArduCopterFirmwarePlugin.h"
 #include "QGCApplication.h"
 #include "MissionManager.h"
+#include "ParameterManager.h"
 
 bool ArduCopterFirmwarePlugin::_remapParamNameIntialized = false;
 FirmwarePlugin::remapParamNameMajorVersionMap_t ArduCopterFirmwarePlugin::_remapParamName;
@@ -210,7 +211,7 @@ bool ArduCopterFirmwarePlugin::multiRotorCoaxialMotors(Vehicle* vehicle)
 
 bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle* vehicle)
 {
-    return vehicle->getParameterFact(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
+    return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, "FRAME")->rawValue().toInt() != 0;
 }
 
 QString ArduCopterFirmwarePlugin::geoFenceRadiusParam(Vehicle* vehicle)

src/FirmwarePlugin/PX4/PX4GeoFenceManager.cc

@@ -17,9 +17,9 @@ PX4GeoFenceManager::PX4GeoFenceManager(Vehicle* vehicle)
     , _firstParamLoadComplete(false)
     , _circleRadiusFact(NULL)
 {
-    connect(_vehicle->getParameterManager(), &ParameterManager::parametersReady,  this, &PX4GeoFenceManager::_parametersReady);
+    connect(_vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &PX4GeoFenceManager::_parametersReady);
 
-    if (_vehicle->getParameterManager()->parametersAreReady()) {
+    if (_vehicle->parameterManager()->parametersReady()) {
         _parametersReady();
     }
 }
@@ -34,7 +34,7 @@ void PX4GeoFenceManager::_parametersReady(void)
     if (!_firstParamLoadComplete) {
         _firstParamLoadComplete = true;
 
-        _circleRadiusFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST"));
+        _circleRadiusFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("GF_MAX_HOR_DIST"));
         connect(_circleRadiusFact, &Fact::rawValueChanged, this, &PX4GeoFenceManager::_circleRadiusRawValueChanged);
         emit circleRadiusChanged(circleRadius());
 
@@ -48,8 +48,8 @@ void PX4GeoFenceManager::_parametersReady(void)
         _paramLabels.clear();
         for (int i=0; i<paramNames.count(); i++) {
             QString paramName = paramNames[i];
-            if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) {
-                Fact* paramFact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName);
+            if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, paramName)) {
+                Fact* paramFact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName);
                 _params << QVariant::fromValue(paramFact);
                 _paramLabels << paramLabels[i];
             }

src/MissionManager/GeoFenceController.cc

@@ -128,7 +128,7 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr
         return false;
     }
 
-    if (!_activeVehicle->getParameterManager()->loadFromJson(json, false /* required */, errorString)) {
+    if (!_activeVehicle->parameterManager()->loadFromJson(json, false /* required */, errorString)) {
         return false;
     }
 
@@ -274,7 +274,7 @@ void GeoFenceController::saveToFile(const QString& filename)
         fenceFileObject[JsonHelper::jsonGroundStationKey] = JsonHelper::jsonGroundStationValue;
 
         QStringList         paramNames;
-        ParameterManager*   paramMgr = _activeVehicle->getParameterManager();
+        ParameterManager*   paramMgr = _activeVehicle->parameterManager();
         GeoFenceManager*    fenceMgr = _activeVehicle->geoFenceManager();
         QVariantList        params = fenceMgr->params();
 
@@ -322,21 +322,21 @@ void GeoFenceController::removeAll(void)
 
 void GeoFenceController::loadFromVehicle(void)
 {
-    if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
         _activeVehicle->geoFenceManager()->loadFromVehicle();
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterManager()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress();
     }
 }
 
 void GeoFenceController::sendToVehicle(void)
 {
-    if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
         setDirty(false);
         _polygon.setDirty(false);
         _activeVehicle->geoFenceManager()->sendToVehicle(_breachReturnPoint, _polygon.coordinateList());
     } else {
-        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->getParameterManager()->parametersAreReady() << syncInProgress();
+        qCWarning(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle call at wrong time" << _activeVehicle->parameterManager()->parametersReady() << syncInProgress();
     }
 }
 

src/MissionManager/MissionController.cc

@@ -1052,7 +1052,7 @@ void MissionController::_activeVehicleSet(void)
     connect(_activeVehicle, &Vehicle::homePositionAvailableChanged,     this, &MissionController::_activeVehicleHomePositionAvailableChanged);
     connect(_activeVehicle, &Vehicle::homePositionChanged,              this, &MissionController::_activeVehicleHomePositionChanged);
 
-    if (_activeVehicle->getParameterManager()->parametersAreReady() && !syncInProgress()) {
+    if (_activeVehicle->parameterManager()->parametersReady() && !syncInProgress()) {
         // We are switching between two previously existing vehicles. We have to manually ask for the items from the Vehicle.
         // We don't request mission items for new vehicles since that will happen autamatically.
         loadFromVehicle();

src/QGCApplication.cc

@@ -95,6 +95,7 @@
 #include "MissionCommandTree.h"
 #include "GeoFenceController.h"
 #include "QGCMapPolygon.h"
+#include "ParameterManager.h"
 
 #ifndef __ios__
     #include "SerialLink.h"
@@ -379,10 +380,11 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",              1, 0, "Vehicle",                "Reference only");
     qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",              1, 0, "MissionItem",            "Reference only");
     qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",              1, 0, "MissionManager",         "Reference only");
+    qmlRegisterUncreatableType<ParameterManager>    ("QGroundControl.Vehicle",              1, 0, "ParameterManager",       "Reference only");
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",               "Reference only");
     qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",     "Reference only");
-    qmlRegisterUncreatableType<QGCMapPolygon>          ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",             "Reference only");
+    qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",          "Reference only");
 
     qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");

src/QmlControls/ParameterEditorController.cc

@@ -29,7 +29,7 @@ ParameterEditorController::ParameterEditorController(void)
     : _currentComponentId(_vehicle->defaultComponentId())
     , _parameters(new QmlObjectListModel(this))
 {
-    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
+    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->parameterManager()->getGroupMap();
     foreach (int componentId, groupMap.keys()) {
         _componentIds += QString("%1").arg(componentId);
     }
@@ -49,14 +49,14 @@ ParameterEditorController::~ParameterEditorController()
 
 QStringList ParameterEditorController::getGroupsForComponent(int componentId)
 {
-    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
+    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->parameterManager()->getGroupMap();
 
     return groupMap[componentId].keys();
 }
 
 QStringList ParameterEditorController::getParametersForGroup(int componentId, QString group)
 {
-    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
+    const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->parameterManager()->getGroupMap();
 
     return groupMap[componentId][group];
 }
@@ -65,11 +65,11 @@ QStringList ParameterEditorController::searchParametersForComponent(int componen
 {
     QStringList list;
     
-    foreach(const QString &paramName, _autopilot->parameterNames(componentId)) {
+    foreach(const QString &paramName, _vehicle->parameterManager()->parameterNames(componentId)) {
         if (searchText.isEmpty()) {
             list += paramName;
         } else {
-            Fact* fact = _vehicle->getParameterFact(componentId, paramName);
+            Fact* fact = _vehicle->parameterManager()->getParameter(componentId, paramName);
             
             if (searchInName && fact->name().contains(searchText, Qt::CaseInsensitive)) {
                 list += paramName;
@@ -105,7 +105,7 @@ void ParameterEditorController::saveToFile(const QString& filename)
         }
         
         QTextStream stream(&file);
-        _autopilot->writeParametersToStream(stream);
+        _vehicle->parameterManager()->writeParametersToStream(stream);
         file.close();
     }
 }
@@ -141,7 +141,7 @@ void ParameterEditorController::loadFromFile(const QString& filename)
         }
         
         QTextStream stream(&file);
-        errors = _autopilot->readParametersFromStream(stream);
+        errors = _vehicle->parameterManager()->readParametersFromStream(stream);
         file.close();
         
         if (!errors.isEmpty()) {
@@ -163,12 +163,12 @@ void ParameterEditorController::loadFromFilePicker(void)
 
 void ParameterEditorController::refresh(void)
 {
-    _autopilot->refreshAllParameters();
+    _vehicle->parameterManager()->refreshAllParameters();
 }
 
 void ParameterEditorController::resetAllToDefaults(void)
 {
-    _autopilot->resetAllParametersToDefaults();
+    _vehicle->parameterManager()->resetAllParametersToDefaults();
     refresh();
 }
 
@@ -188,13 +188,13 @@ void ParameterEditorController::_updateParameters(void)
     QObjectList newParameterList;
 
     if (_searchText.isEmpty()) {
-        const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->getParameterManager()->getGroupMap();
+        const QMap<int, QMap<QString, QStringList> >& groupMap = _vehicle->parameterManager()->getGroupMap();
         foreach (const QString& parameter, groupMap[_currentComponentId][_currentGroup]) {
-            newParameterList.append(_vehicle->getParameterFact(_currentComponentId, parameter));
+            newParameterList.append(_vehicle->parameterManager()->getParameter(_currentComponentId, parameter));
         }
     } else {
-        foreach(const QString &parameter, _autopilot->parameterNames(_vehicle->defaultComponentId())) {
-            Fact* fact = _vehicle->getParameterFact(_vehicle->defaultComponentId(), parameter);
+        foreach(const QString &parameter, _vehicle->parameterManager()->parameterNames(_vehicle->defaultComponentId())) {
+            Fact* fact = _vehicle->parameterManager()->getParameter(_vehicle->defaultComponentId(), parameter);
             if (fact->name().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->shortDescription().contains(_searchText, Qt::CaseInsensitive) ||
                     fact->longDescription().contains(_searchText, Qt::CaseInsensitive)) {

src/Vehicle/MultiVehicleManager.cc

@@ -14,6 +14,7 @@
 #include "QGCApplication.h"
 #include "FollowMe.h"
 #include "QGroundControlQmlGlobal.h"
+#include "ParameterManager.h"
 
 #ifdef __mobile__
 #include "MobileScreenMgr.h"
@@ -99,7 +100,7 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
 
     Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
     connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
-    connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
+    connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &MultiVehicleManager::_vehicleParametersReadyChanged);
 
     _vehicles.append(vehicle);
 
@@ -189,7 +190,7 @@ void MultiVehicleManager::_deleteVehiclePhase2(void)
     if (_activeVehicle) {
         _activeVehicle->setActive(true);
         emit activeVehicleAvailableChanged(true);
-        if (_activeVehicle->autopilotPlugin()->parametersReady()) {
+        if (_activeVehicle->parameterManager()->parametersReady()) {
             emit parameterReadyVehicleAvailableChanged(true);
         }
     }
@@ -237,23 +238,23 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
         _activeVehicleAvailable = true;
         emit activeVehicleAvailableChanged(true);
 
-        if (_activeVehicle->autopilotPlugin()->parametersReady()) {
+        if (_activeVehicle->parameterManager()->parametersReady()) {
             _parameterReadyVehicleAvailable = true;
             emit parameterReadyVehicleAvailableChanged(true);
         }
     }
 }
 
-void MultiVehicleManager::_autopilotParametersReadyChanged(bool parametersReady)
+void MultiVehicleManager::_vehicleParametersReadyChanged(bool parametersReady)
 {
-    AutoPilotPlugin* autopilot = dynamic_cast<AutoPilotPlugin*>(sender());
+    ParameterManager* paramMgr = dynamic_cast<ParameterManager*>(sender());
 
-    if (!autopilot) {
+    if (!paramMgr) {
         qWarning() << "Dynamic cast failed!";
         return;
     }
 
-    if (autopilot->vehicle() == _activeVehicle) {
+    if (paramMgr->vehicle() == _activeVehicle) {
         _parameterReadyVehicleAvailable = parametersReady;
         emit parameterReadyVehicleAvailableChanged(parametersReady);
     }

src/Vehicle/MultiVehicleManager.h

@@ -93,7 +93,7 @@ private slots:
     void _deleteVehiclePhase1(Vehicle* vehicle);
     void _deleteVehiclePhase2(void);
     void _setActiveVehiclePhase2(void);
-    void _autopilotParametersReadyChanged(bool parametersReady);
+    void _vehicleParametersReadyChanged(bool parametersReady);
     void _sendGCSHeartbeat(void);
     void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
 

src/Vehicle/Vehicle.cc

@@ -101,7 +101,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _missionManagerInitialRequestComplete(false)
     , _geoFenceManager(NULL)
     , _geoFenceManagerInitialRequestComplete(false)
-    , _parameterLoader(NULL)
+    , _parameterManager(NULL)
     , _armed(false)
     , _base_mode(0)
     , _custom_mode(0)
@@ -156,9 +156,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
     _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);
 
-    connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
-    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);
-
     // connect this vehicle to the follow me handle manager
     connect(this, &Vehicle::flightModeChanged,qgcApp()->toolbox()->followMe(), &FollowMe::followMeHandleManager);
 
@@ -199,9 +196,8 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_missionManager, &MissionManager::error,                    this, &Vehicle::_missionManagerError);
     connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_newMissionItemsAvailable);
 
-    _parameterLoader = new ParameterManager(this);
-    connect(_parameterLoader, &ParameterManager::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
-    connect(_parameterLoader, &ParameterManager::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
+    _parameterManager = new ParameterManager(this);
+    connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
 
     // GeoFenceManager needs to access ParameterManager so make sure to create after
     _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
@@ -295,7 +291,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _missionManagerInitialRequestComplete(false)
     , _geoFenceManager(NULL)
     , _geoFenceManagerInitialRequestComplete(false)
-    , _parameterLoader(NULL)
+    , _parameterManager(NULL)
     , _armed(false)
     , _base_mode(0)
     , _custom_mode(0)
@@ -333,7 +329,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     _missionManager = new MissionManager(this);
     connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
 
-    _parameterLoader = new ParameterManager(this);
+    _parameterManager = new ParameterManager(this);
 
     // GeoFenceManager needs to access ParameterManager so make sure to create after
     _geoFenceManager = _firmwarePlugin->newGeoFenceManager(this);
@@ -1299,11 +1295,6 @@ void Vehicle::setHilMode(bool hilMode)
     sendMessageOnPriorityLink(msg);
 }
 
-bool Vehicle::missingParameters(void)
-{
-    return _autopilotPlugin->missingParameters();
-}
-
 void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
 {
     mavlink_message_t               msg;
@@ -1814,7 +1805,7 @@ void Vehicle::rebootVehicle()
 
 int Vehicle::defaultComponentId(void)
 {
-    return _parameterLoader->defaultComponentId();
+    return _parameterManager->defaultComponentId();
 }
 
 void Vehicle::setSoloFirmware(bool soloFirmware)
@@ -1833,20 +1824,6 @@ void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
 }
 #endif
 
-/// Returns true if the specifed parameter exists from the default component
-bool Vehicle::parameterExists(int componentId, const QString& name) const
-{
-    return getParameterManager()->parameterExists(componentId, name);
-}
-
-/// Returns the specified parameter Fact from the default component
-/// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
-/// parameterExists.
-Fact* Vehicle::getParameterFact(int componentId, const QString& name)
-{
-    return getParameterManager()->getFact(componentId, name);
-}
-
 void Vehicle::_newMissionItemsAvailable(void)
 {
     // After the initial mission request complets we ask for the geofence

src/Vehicle/Vehicle.h

@@ -235,7 +235,6 @@ public:
     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_PROPERTY(bool                 missingParameters       READ missingParameters                                      NOTIFY missingParametersChanged)
     Q_PROPERTY(QmlObjectListModel*  trajectoryPoints        READ trajectoryPoints                                       CONSTANT)
     Q_PROPERTY(float                latitude                READ latitude                                               NOTIFY coordinateChanged)
     Q_PROPERTY(float                longitude               READ longitude                                              NOTIFY coordinateChanged)
@@ -295,6 +294,8 @@ public:
     /// true: Orbit mode is supported by this vehicle
     Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT)
 
+    Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
+
     // FactGroup object model properties
 
     Q_PROPERTY(Fact* roll               READ roll               CONSTANT)
@@ -491,8 +492,6 @@ public:
     ///     @param sendMultiple Send multiple time to guarantee Vehicle reception
     void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple = true);
 
-    bool missingParameters(void);
-
     typedef enum {
         MessageNone,
         MessageNormal,
@@ -544,8 +543,8 @@ public:
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
-    ParameterManager* getParameterManager(void) { return _parameterLoader; }
-    ParameterManager* getParameterManager(void) const { return _parameterLoader; }
+    ParameterManager* parameterManager(void) { return _parameterManager; }
+    ParameterManager* parameterManager(void) const { return _parameterManager; }
 
     static const int cMaxRcChannels = 18;
 
@@ -574,14 +573,6 @@ public:
     /// @return true: X confiuration, false: Plus configuration
     bool xConfigMotors(void);
 
-    /// Returns true if the specifed parameter exists from the default component
-    bool parameterExists(int componentId, const QString& name) const;
-
-    /// Returns the specified parameter Fact from the default component
-    /// WARNING: Returns a default Fact if parameter does not exists. If that possibility exists, check for existence first with
-    /// parameterExists.
-    Fact* getParameterFact(int componentId, const QString& name);
-
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -599,7 +590,6 @@ signals:
     void armedChanged(bool armed);
     void flightModeChanged(const QString& flightMode);
     void hilModeChanged(bool hilMode);
-    void missingParametersChanged(bool missingParameters);
     void connectionLostChanged(bool connectionLost);
     void connectionLostEnabledChanged(bool connectionLostEnabled);
     void autoDisconnectChanged(bool autoDisconnectChanged);
@@ -763,7 +753,7 @@ private:
     GeoFenceManager*    _geoFenceManager;
     bool                _geoFenceManagerInitialRequestComplete;
 
-    ParameterManager*    _parameterLoader;
+    ParameterManager*    _parameterManager;
 
     bool    _armed;         ///< true: vehicle is armed
     uint8_t _base_mode;     ///< base_mode from HEARTBEAT

src/VehicleSetup/SetupView.qml

@@ -39,7 +39,7 @@ Rectangle {
     readonly property string    _armedVehicleText:  qsTr("This operation cannot be performed while vehicle is armed.")
 
     property string _messagePanelText:              "missing message panel text"
-    property bool   _fullParameterVehicleAvailable: QGroundControl.multiVehicleManager.parameterReadyVehicleAvailable && !QGroundControl.multiVehicleManager.activeVehicle.missingParameters
+    property bool   _fullParameterVehicleAvailable: QGroundControl.multiVehicleManager.parameterReadyVehicleAvailable && !QGroundControl.multiVehicleManager.activeVehicle.parameterManager.missingParameters
 
     function showSummaryPanel()
     {

src/VehicleSetup/VehicleComponent.cc

@@ -13,6 +13,7 @@
 
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
+#include "ParameterManager.h"
 
 VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     QObject(parent),
@@ -49,8 +50,8 @@ void VehicleComponent::setupTriggerSignals(void)
 {
     // Watch for changed on trigger list params
     foreach (const QString &paramName, setupCompleteChangedTriggerList()) {
-        if (_vehicle->parameterExists(FactSystem::defaultComponentId, paramName)) {
-            Fact* fact = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName);
+        if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, paramName)) {
+            Fact* fact = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName);
             connect(fact, &Fact::valueChanged, this, &VehicleComponent::_triggerUpdated);
         }
     }

src/qgcunittest/RadioConfigTest.cc

@@ -378,7 +378,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
                     switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
 
                     foreach (const QString &switchParam, switchList) {
-                        Q_ASSERT(_vehicle->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
+                        Q_ASSERT(_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
                     }
                 }
                 
@@ -393,7 +393,7 @@ void RadioConfigTest::_fullCalibrationWorker(MAV_AUTOPILOT firmwareType)
         if (!found) {
             const char* paramName = _functionInfo()[function].parameterName;
             if (paramName) {
-                _rgFunctionChannelMap[function] = _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+                _rgFunctionChannelMap[function] = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
                 qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
                 if (_rgFunctionChannelMap[function] == 0) {
                     _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
@@ -469,8 +469,8 @@ void RadioConfigTest::_validateParameters(void)
         
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
-            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
-            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
+            qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName)->rawValue().toInt();
+            QCOMPARE(_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedParameterValue);
         }
     }
 
@@ -485,13 +485,13 @@ void RadioConfigTest::_validateParameters(void)
         int rcTrimExpected = _channelSettingsValidate()[chan].rcTrim;
         bool rcReversedExpected = _channelSettingsValidate()[chan].reversed;
 
-        int rcMinActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMinActual = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcMaxActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcMaxActual = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcTrimActual = _vehicle->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
+        int rcTrimActual = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        float rcReversedFloat = _vehicle->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
+        float rcReversedFloat = _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
         QCOMPARE(convertOk, true);
         bool rcReversedActual = (rcReversedFloat == -1.0f);
         
@@ -515,7 +515,7 @@ void RadioConfigTest::_validateParameters(void)
         const char* paramName = _functionInfo()[chanFunction].parameterName;
         if (paramName) {
             // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[paramName].toInt();
-            QCOMPARE(_vehicle->getParameterFact(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
+            QCOMPARE(_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, paramName)->rawValue().toInt(), expectedValue);
         }
     }
 }

src/ui/QGCMapRCToParamDialog.cpp

@@ -13,6 +13,7 @@
 
 #include "QGCMapRCToParamDialog.h"
 #include "ui_QGCMapRCToParamDialog.h"
+#include "ParameterManager.h"
 
 #include <QDebug>
 #include <QTimer>
@@ -31,7 +32,7 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
 
     // refresh the parameter from onboard to make sure the current value is used
     Vehicle* vehicle = _multiVehicleManager->getVehicleById(mav->getUASID());
-    Fact* paramFact = vehicle->getParameterFact(FactSystem::defaultComponentId, param_id);
+    Fact* paramFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, param_id);
     
     ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
     ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
@@ -43,7 +44,7 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav
     ui->paramIdLabel->setText(param_id);
 
     connect(paramFact, &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated);
-    vehicle->autopilotPlugin()->refreshParameter(FactSystem::defaultComponentId, param_id);
+    vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, param_id);
 }
 
 QGCMapRCToParamDialog::~QGCMapRCToParamDialog()

src/ui/toolbar/MainToolBarController.cc

@@ -24,6 +24,7 @@
 #include "QGCApplication.h"
 #include "MultiVehicleManager.h"
 #include "UAS.h"
+#include "ParameterManager.h"
 
 MainToolBarController::MainToolBarController(QObject* parent)
     : QObject(parent)
@@ -47,7 +48,7 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
 {
     // Disconnect the previous one (if any)
     if (_vehicle) {
-        disconnect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
+        disconnect(_vehicle->parameterManager(), &ParameterManager::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
         _mav = NULL;
         _vehicle = NULL;
     }
@@ -57,7 +58,7 @@ void MainToolBarController::_activeVehicleChanged(Vehicle* vehicle)
     {
         _vehicle = vehicle;
         _mav = vehicle->uas();
-        connect(_vehicle->autopilotPlugin(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
+        connect(_vehicle->parameterManager(), &ParameterManager::parameterListProgress, this, &MainToolBarController::_setProgressBarValue);
     }
 }