ParameterLoader to Vehicle, ParameterMetaData to FirmwarePlugin

QGCApplication.pro

@@ -527,14 +527,13 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePluginManager.h \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
-    src/FirmwarePlugin/APM/APMParameterLoader.h \
+    src/FirmwarePlugin/APM/APMParameterMetaData.h \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
-    src/FirmwarePlugin/Generic/GenericParameterLoader.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
-    src/FirmwarePlugin/PX4/PX4ParameterLoader.h \
+    src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/Vehicle.h \
     src/VehicleSetup/VehicleComponent.h \
@@ -568,15 +567,14 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
-    src/FirmwarePlugin/APM/APMParameterLoader.cc \
+    src/FirmwarePlugin/APM/APMParameterMetaData.cc \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
-    src/FirmwarePlugin/Generic/GenericParameterLoader.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \
-    src/FirmwarePlugin/PX4/PX4ParameterLoader.cc \
+    src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/Vehicle.cc \
     src/VehicleSetup/VehicleComponent.cc \

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -25,7 +25,7 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCMessageBox.h"
 #include "UAS.h"
-#include "FirmwarePlugin/APM/APMParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/APM/APMParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/APM/APMFirmwarePlugin.h"  // FIXME: Hack
 
 /// This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_ARDUPILOT type.
@@ -34,9 +34,6 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     _incorrectParameterVersion(false)
 {
     Q_ASSERT(vehicle);
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 APMAutoPilotPlugin::~APMAutoPilotPlugin()
@@ -44,11 +41,6 @@ APMAutoPilotPlugin::~APMAutoPilotPlugin()
 
 }
 
-void APMAutoPilotPlugin::clearStaticData(void)
-{
-    APMParameterLoader::clearStaticData();
-}
-
 const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
 {
     static const QVariantList emptyList;

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -39,8 +39,6 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
-    static void clearStaticData(void);
-
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -109,34 +109,34 @@ void AutoPilotPlugin::resetAllParametersToDefaults(void)
 
 void AutoPilotPlugin::refreshAllParameters(void)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshAllParameters();
+    _vehicle->getParameterLoader()->refreshAllParameters();
 }
 
 void AutoPilotPlugin::refreshParameter(int componentId, const QString& name)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParameter(componentId, name);
+    _vehicle->getParameterLoader()->refreshParameter(componentId, name);
 }
 
 void AutoPilotPlugin::refreshParametersPrefix(int componentId, const QString& namePrefix)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->refreshParametersPrefix(componentId, namePrefix);
+    _vehicle->getParameterLoader()->refreshParametersPrefix(componentId, namePrefix);
 }
 
 bool AutoPilotPlugin::parameterExists(int componentId, const QString& name)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
+    return _vehicle->getParameterLoader()->parameterExists(componentId, name);
 }
 
 Fact* AutoPilotPlugin::getParameterFact(int componentId, const QString& name)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
+    return _vehicle->getParameterLoader()->getFact(componentId, name);
 }
 
 bool AutoPilotPlugin::factExists(FactSystem::Provider_t provider, int componentId, const QString& name)
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterExists(componentId, name);
+            return _vehicle->getParameterLoader()->parameterExists(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -149,7 +149,7 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 {
     switch (provider) {
         case FactSystem::ParameterProvider:
-            return _firmwarePlugin->getParameterLoader(this, _vehicle)->getFact(componentId, name);
+            return _vehicle->getParameterLoader()->getFact(componentId, name);
             
         // Other providers will go here once they come online
     }
@@ -160,20 +160,20 @@ Fact* AutoPilotPlugin::getFact(FactSystem::Provider_t provider, int componentId,
 
 QStringList AutoPilotPlugin::parameterNames(int componentId)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->parameterNames(componentId);
+    return _vehicle->getParameterLoader()->parameterNames(componentId);
 }
 
 const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->getGroupMap();
+    return _vehicle->getParameterLoader()->getGroupMap();
 }
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-    _firmwarePlugin->getParameterLoader(this, _vehicle)->writeParametersToStream(stream, _vehicle->uas()->getUASName());
+    _vehicle->getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)
 {
-    return _firmwarePlugin->getParameterLoader(this, _vehicle)->readParametersFromStream(stream);
+    return _vehicle->getParameterLoader()->readParametersFromStream(stream);
 }

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -114,8 +114,6 @@ public:
     // Must be implemented by derived class
     virtual const QVariantList& vehicleComponents(void) = 0;
     
-    static void clearStaticData(void);
-	
 	// Property accessors
 	bool parametersReady(void) { return _parametersReady; }
     bool missingParameters(void) { return _missingParameters; }

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -37,12 +37,6 @@ AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
 
 }
 
-AutoPilotPluginManager::~AutoPilotPluginManager()
-{
-    PX4AutoPilotPlugin::clearStaticData();
-    GenericAutoPilotPlugin::clearStaticData();
-}
-
 AutoPilotPlugin* AutoPilotPluginManager::newAutopilotPluginForVehicle(Vehicle* vehicle)
 {
     switch (vehicle->firmwareType()) {

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -49,7 +49,6 @@ public:
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     AutoPilotPluginManager(QObject* parent = NULL);
-    ~AutoPilotPluginManager();
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -31,14 +31,6 @@ GenericAutoPilotPlugin::GenericAutoPilotPlugin(Vehicle* vehicle, QObject* parent
     AutoPilotPlugin(vehicle, parent)
 {
     Q_ASSERT(vehicle);
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
-}
-
-void GenericAutoPilotPlugin::clearStaticData(void)
-{
-    // No Static data yet
 }
 
 const QVariantList& GenericAutoPilotPlugin::vehicleComponents(void)

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -41,8 +41,6 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
     
-    static void clearStaticData(void);
-    
 public slots:
     // FIXME: This is public until we restructure AutoPilotPlugin/FirmwarePlugin/Vehicle
     void _parametersReadyPreChecks(bool missingParameters);

src/AutoPilotPlugins/PX4/PX4AirframeLoader.cc

@@ -190,9 +190,3 @@ void PX4AirframeLoader::loadAirframeFactMetaData(void)
 
     _airframeMetaDataLoaded = true;
 }
-
-void PX4AirframeLoader::clearStaticData(void)
-{
-    AirframeComponentAirframes::clear();
-    _airframeMetaDataLoaded = false;
-}

src/AutoPilotPlugins/PX4/PX4AirframeLoader.h

@@ -50,7 +50,6 @@ public:
     PX4AirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
 
     static void loadAirframeFactMetaData(void);
-    static void clearStaticData(void);
 
 private:
     enum {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -28,7 +28,7 @@
 #include "AirframeComponentController.h"
 #include "QGCMessageBox.h"
 #include "UAS.h"
-#include "FirmwarePlugin/PX4/PX4ParameterLoader.h"  // FIXME: Hack
+#include "FirmwarePlugin/PX4/PX4ParameterMetaData.h"  // FIXME: Hack
 #include "FirmwarePlugin/PX4/PX4FirmwarePlugin.h"  // FIXME: Hack
 
 /// @file
@@ -81,9 +81,6 @@ PX4AutoPilotPlugin::PX4AutoPilotPlugin(Vehicle* vehicle, QObject* parent) :
     Q_CHECK_PTR(_airframeFacts);
     
     PX4AirframeLoader::loadAirframeFactMetaData();
-
-    // This kicks off parameter load
-    _firmwarePlugin->getParameterLoader(this, vehicle);
 }
 
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
@@ -91,12 +88,6 @@ PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
     delete _airframeFacts;
 }
 
-void PX4AutoPilotPlugin::clearStaticData(void)
-{
-    PX4ParameterLoader::clearStaticData();
-    PX4AirframeLoader::clearStaticData();
-}
-
 const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
 {
     if (_components.count() == 0 && !_incorrectParameterVersion) {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -51,8 +51,6 @@ public:
     // Overrides from AutoPilotPlugin
     virtual const QVariantList& vehicleComponents(void);
 
-    static void clearStaticData(void);
-    
     // These methods should only be used by objects within the plugin
     AirframeComponent*      airframeComponent(void)     { return _airframeComponent; }
     RadioComponent*         radioComponent(void)        { return _radioComponent; }

src/FactSystem/FactSystem.h

@@ -37,7 +37,7 @@
 /// additional meta data associated with a Fact such as description, min/max ranges and so forth.
 /// The FactValidator object is a QML validator which validates input according to the FactMetaData
 /// settings. Client code can then use this system to expose sets of Facts to QML code. An example
-/// of this is the PX4ParameterLoader onbject which is part of the PX4 AutoPilot plugin. It exposes
+/// of this is the PX4ParameterMetaData onbject which is part of the PX4 AutoPilot plugin. It exposes
 /// the firmware parameters to QML such that you can bind QML ui elements directly to parameters.
 
 class FactSystem : public QGCSingleton

src/FactSystem/ParameterLoader.cc

@@ -198,7 +198,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     
     // Attempt to determine default component id
     if (_defaultComponentId == FactSystem::defaultComponentId && _defaultComponentIdParam.isEmpty()) {
-        _defaultComponentIdParam = getDefaultComponentIdParam();
+        _defaultComponentIdParam = _vehicle->firmwarePlugin()->getDefaultComponentIdParam();
     }
     if (!_defaultComponentIdParam.isEmpty() && _defaultComponentIdParam == parameterName) {
         _defaultComponentId = componentId;
@@ -255,7 +255,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     fact->_containerSetValue(value);
     
     if (setMetaData) {
-        _addMetaDataToFact(fact);
+        _vehicle->firmwarePlugin()->addMetaDataToFact(fact);
     }
     
     _dataMutex.unlock();
@@ -293,12 +293,6 @@ void ParameterLoader::_valueUpdated(const QVariant& value)
     qCDebug(ParameterLoaderLog) << "Set parameter (componentId:" << componentId << "name:" << name << value << ")";
 }
 
-void ParameterLoader::_addMetaDataToFact(Fact* fact)
-{
-    FactMetaData* metaData = new FactMetaData(fact->type(), this);
-    fact->setMetaData(metaData);
-}
-
 void ParameterLoader::refreshAllParameters(void)
 {
     _dataMutex.lock();

src/FactSystem/ParameterLoader.h

@@ -87,10 +87,6 @@ public:
     
     void writeParametersToStream(QTextStream &stream, const QString& name);
     
-    /// Return the parameter for which the default component id is derived from. Return an empty
-    /// string is this is not available.
-    virtual QString getDefaultComponentIdParam(void) const = 0;
-    
 signals:
     /// Signalled when the full set of facts are ready
     void parametersReady(bool missingParameters);
@@ -102,10 +98,6 @@ signals:
     void restartWaitingParamTimer(void);
     
 protected:
-    /// Base implementation adds generic meta data based on variant type. Derived class can override to provide
-    /// more details meta data.
-    virtual void _addMetaDataToFact(Fact* fact);
-
     AutoPilotPlugin*    _autopilot;
     Vehicle*            _vehicle;
     MAVLinkProtocol*    _mavlink;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -141,7 +141,6 @@ QString APMCustomMode::modeString() const
 
 APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent)
     : FirmwarePlugin(parent)
-    , _parameterLoader(NULL)
 {
      _textSeverityAdjustmentNeeded = false;
 }
@@ -387,18 +386,7 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     return true;
 }
 
-ParameterLoader* APMFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
-    if (!_parameterLoader) {
-        _parameterLoader = new APMParameterLoader(autopilotPlugin, vehicle, this);
-        Q_CHECK_PTR(_parameterLoader);
-
-        // FIXME: Why do I need SIGNAL/SLOT to make this work
-        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
-        connect(_parameterLoader, &APMParameterLoader::parameterListProgress,   autopilotPlugin, &APMAutoPilotPlugin::parameterListProgress);
-
-        _parameterLoader->loadParameterFactMetaData();
-    }
-
-    return _parameterLoader;
+    _parameterMetaData.addMetaDataToFact(fact);
 }

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -29,7 +29,7 @@
 
 #include "FirmwarePlugin.h"
 #include "QGCLoggingCategory.h"
-#include "APMParameterLoader.h"
+#include "APMParameterMetaData.h"
 
 Q_DECLARE_LOGGING_CATEGORY(APMFirmwarePluginLog)
 
@@ -89,7 +89,8 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
+    virtual void addMetaDataToFact(Fact* fact);
+    virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
 
 protected:
     /// All access to singleton is through stack specific implementation
@@ -103,7 +104,7 @@ private:
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
     QList<APMCustomMode>    _supportedModes;
-    APMParameterLoader*     _parameterLoader;
+    APMParameterMetaData    _parameterMetaData;
 };
 
 #endif

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -24,7 +24,7 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#include "APMParameterLoader.h"
+#include "APMParameterMetaData.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 
@@ -33,15 +33,15 @@
 #include <QDir>
 #include <QDebug>
 
-QGC_LOGGING_CATEGORY(APMParameterLoaderLog, "APMParameterLoaderLog")
+QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog")
 
-bool APMParameterLoader::_parameterMetaDataLoaded = false;
-QMap<QString, FactMetaData*> APMParameterLoader::_mapParameterName2FactMetaData;
+bool                            APMParameterMetaData::_parameterMetaDataLoaded = false;
+QMap<QString, FactMetaData*>    APMParameterMetaData::_mapParameterName2FactMetaData;
 
-APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
-    ParameterLoader(autopilot, vehicle, parent)
+APMParameterMetaData::APMParameterMetaData(QObject* parent) :
+    QObject(parent)
 {
-    Q_ASSERT(vehicle);
+    _loadParameterFactMetaData();
 }
 
 /// Converts a string to a typed QVariant
@@ -49,7 +49,7 @@ APMParameterLoader::APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehi
 ///     @param type Type for Fact which dictates the QVariant type as well
 ///     @param convertOk Returned: true: conversion success, false: conversion failure
 /// @return Returns the correctly type QVariant
-QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
+QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
 {
     QVariant var(string);
 
@@ -81,7 +81,7 @@ QVariant APMParameterLoader::_stringToTypedVariant(const QString& string, FactMe
 /// Load Parameter Fact meta data
 ///
 /// The meta data comes from firmware parameters.xml file.
-void APMParameterLoader::loadParameterFactMetaData(void)
+void APMParameterMetaData::_loadParameterFactMetaData(void)
 {
     if (_parameterMetaDataLoaded) {
         return;
@@ -94,20 +94,11 @@ void APMParameterLoader::loadParameterFactMetaData(void)
     // has multiple sets of static meta data
 }
 
-void APMParameterLoader::clearStaticData(void)
-{
-    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
-        delete _mapParameterName2FactMetaData[parameterName];
-    }
-    _mapParameterName2FactMetaData.clear();
-    _parameterMetaDataLoaded = false;
-}
-
 /// Override from FactLoad which connects the meta data to the fact
-void APMParameterLoader::_addMetaDataToFact(Fact* fact)
+void APMParameterMetaData::addMetaDataToFact(Fact* fact)
 {
     // FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
 
-    // Use generic meta data
-    ParameterLoader::_addMetaDataToFact(fact);
+    FactMetaData* metaData = new FactMetaData(fact->type(), fact);
+    fact->setMetaData(metaData);
 }

src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -21,15 +21,14 @@
  
  ======================================================================*/
 
-#ifndef APMParameterLoader_H
-#define APMParameterLoader_H
+#ifndef APMParameterMetaData_H
+#define APMParameterMetaData_H
 
 #include <QObject>
 #include <QMap>
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
-#include "ParameterLoader.h"
 #include "FactSystem.h"
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
@@ -37,23 +36,23 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-Q_DECLARE_LOGGING_CATEGORY(APMParameterLoaderLog)
+Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
-class APMParameterLoader : public ParameterLoader
+class APMParameterMetaData : public QObject
 {
     Q_OBJECT
     
 public:
     /// @param uas Uas which this set of facts is associated with
-    APMParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+    APMParameterMetaData(QObject* parent = NULL);
 
     /// Override from ParameterLoader
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }    
     
-    static void loadParameterFactMetaData(void);
-    static void clearStaticData(void);
+    // Overrides from ParameterLoader
+    static void addMetaDataToFact(Fact* fact);
 
 private:
     enum {
@@ -65,10 +64,8 @@ private:
         XmlStateDone
     };
     
-    // Overrides from ParameterLoader
-    virtual void _addMetaDataToFact(Fact* fact);
 
-    // Class methods
+    static void _loadParameterFactMetaData(void);
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
 
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded

src/FirmwarePlugin/FirmwarePlugin.h

@@ -105,8 +105,11 @@ public:
     ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
     virtual bool sendHomePositionToVehicle(void) = 0;
     
-    /// Returns the ParameterLoader
-    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle) = 0;
+    /// Returns the parameter that is used to identify the default component
+    virtual QString getDefaultComponentIdParam(void) const = 0;
+
+    /// Adds the parameter meta data to the Fact
+    virtual void addMetaDataToFact(Fact* fact) = 0;
     
 protected:
     FirmwarePlugin(QObject* parent = NULL) : QGCSingleton(parent) { }

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -33,7 +33,6 @@ IMPLEMENT_QGC_SINGLETON(GenericFirmwarePlugin, FirmwarePlugin)
 
 GenericFirmwarePlugin::GenericFirmwarePlugin(QObject* parent)
     : FirmwarePlugin(parent)
-    , _parameterLoader(NULL)
 {
     
 }
@@ -121,16 +120,9 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-ParameterLoader* GenericFirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
-    if (!_parameterLoader) {
-        _parameterLoader = new GenericParameterLoader(autopilotPlugin, vehicle, this);
-        Q_CHECK_PTR(_parameterLoader);
-
-        // FIXME: Why do I need SIGNAL/SLOT to make this work
-        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                    autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
-        connect(_parameterLoader, &GenericParameterLoader::parameterListProgress,   autopilotPlugin, &GenericAutoPilotPlugin::parameterListProgress);
-    }
-
-    return _parameterLoader;
+    // Add default meta data
+    FactMetaData* metaData = new FactMetaData(fact->type(), fact);
+    fact->setMetaData(metaData);
 }

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -28,7 +28,6 @@
 #define GenericFirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
-#include "GenericParameterLoader.h"
 
 class GenericFirmwarePlugin : public FirmwarePlugin
 {
@@ -48,13 +47,12 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
+    virtual void addMetaDataToFact(Fact* fact);
+    virtual QString getDefaultComponentIdParam(void) const { return QString(); }
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     GenericFirmwarePlugin(QObject* parent = NULL);
-
-    GenericParameterLoader* _parameterLoader;
 };
 
 #endif

src/FirmwarePlugin/Generic/GenericParameterLoader.cc

@@ -1,37 +0,0 @@
-/*=====================================================================
- 
- QGroundControl Open Source Ground Control Station
- 
- (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
- This file is part of the QGROUNDCONTROL project
- 
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- 
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- 
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
- ======================================================================*/
-
-#include "GenericParameterLoader.h"
-
-GenericParameterLoader::GenericParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
-    ParameterLoader(autopilot, vehicle, parent)
-{
-    Q_ASSERT(vehicle);
-}
-
-/// Override from ParameterLoader which connects the meta data to the fact
-void GenericParameterLoader::_addMetaDataToFact(Fact* fact)
-{
-    // Use generic meta data
-    ParameterLoader::_addMetaDataToFact(fact);
-}

src/FirmwarePlugin/Generic/GenericParameterLoader.h

@@ -1,48 +0,0 @@
-/*=====================================================================
- 
- QGroundControl Open Source Ground Control Station
- 
- (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
- This file is part of the QGROUNDCONTROL project
- 
- QGROUNDCONTROL is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
- 
- QGROUNDCONTROL is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
- 
- You should have received a copy of the GNU General Public License
- along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
- ======================================================================*/
-
-#ifndef GenericParameterLoader_H
-#define GenericParameterLoader_H
-
-#include "ParameterLoader.h"
-#include "FactSystem.h"
-#include "AutoPilotPlugin.h"
-#include "Vehicle.h"
-
-class GenericParameterLoader : public ParameterLoader
-{
-    Q_OBJECT
-    
-public:
-    /// @param uas Uas which this set of facts is associated with
-    GenericParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
-
-    /// Override from ParameterLoader
-    virtual QString getDefaultComponentIdParam(void) const { return QString(); }
-    
-private:
-    // Overrides from ParameterLoader
-    virtual void _addMetaDataToFact(Fact* fact);
-};
-
-#endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -90,7 +90,6 @@ static const struct Modes2Name rgModes2Name[] = {
 
 PX4FirmwarePlugin::PX4FirmwarePlugin(QObject* parent)
     : FirmwarePlugin(parent)
-    , _parameterLoader(NULL)
 {
     
 }
@@ -212,18 +211,7 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-ParameterLoader* PX4FirmwarePlugin::getParameterLoader(AutoPilotPlugin* autopilotPlugin, Vehicle* vehicle)
+void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact)
 {
-    if (!_parameterLoader) {
-        _parameterLoader = new PX4ParameterLoader(autopilotPlugin, vehicle, this);
-        Q_CHECK_PTR(_parameterLoader);
-
-        // FIXME: Why do I need SIGNAL/SLOT to make this work
-        connect(_parameterLoader, SIGNAL(parametersReady(bool)),                autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
-        connect(_parameterLoader, &PX4ParameterLoader::parameterListProgress,   autopilotPlugin, &PX4AutoPilotPlugin::parameterListProgress);
-
-        _parameterLoader->loadParameterFactMetaData();
-    }
-
-    return _parameterLoader;
+    _parameterMetaData.addMetaDataToFact(fact);
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -28,7 +28,7 @@
 #define PX4FirmwarePlugin_H
 
 #include "FirmwarePlugin.h"
-#include "PX4ParameterLoader.h"
+#include "PX4ParameterMetaData.h"
 
 class PX4FirmwarePlugin : public FirmwarePlugin
 {
@@ -48,13 +48,14 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual ParameterLoader* getParameterLoader(AutoPilotPlugin *autopilotPlugin, Vehicle* vehicle);
+    virtual void addMetaDataToFact(Fact* fact);
+    virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
 
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     PX4FirmwarePlugin(QObject* parent = NULL);
 
-    PX4ParameterLoader* _parameterLoader;
+    PX4ParameterMetaData    _parameterMetaData;
 };
 
 #endif

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -24,7 +24,7 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#include "PX4ParameterLoader.h"
+#include "PX4ParameterMetaData.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 
@@ -33,15 +33,15 @@
 #include <QDir>
 #include <QDebug>
 
-QGC_LOGGING_CATEGORY(PX4ParameterLoaderLog, "PX4ParameterLoaderLog")
+QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog")
 
-bool PX4ParameterLoader::_parameterMetaDataLoaded = false;
-QMap<QString, FactMetaData*> PX4ParameterLoader::_mapParameterName2FactMetaData;
+bool                            PX4ParameterMetaData::_parameterMetaDataLoaded = false;
+QMap<QString, FactMetaData*>    PX4ParameterMetaData::_mapParameterName2FactMetaData;
 
-PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
-    ParameterLoader(autopilot, vehicle, parent)
+PX4ParameterMetaData::PX4ParameterMetaData(QObject* parent) :
+    QObject(parent)
 {
-    Q_ASSERT(vehicle);
+
 }
 
 /// Converts a string to a typed QVariant
@@ -49,7 +49,7 @@ PX4ParameterLoader::PX4ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehi
 ///     @param type Type for Fact which dictates the QVariant type as well
 ///     @param convertOk Returned: true: conversion success, false: conversion failure
 /// @return Returns the correctly type QVariant
-QVariant PX4ParameterLoader::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
+QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
 {
     QVariant var(string);
 
@@ -81,14 +81,14 @@ QVariant PX4ParameterLoader::_stringToTypedVariant(const QString& string, FactMe
 /// Load Parameter Fact meta data
 ///
 /// The meta data comes from firmware parameters.xml file.
-void PX4ParameterLoader::loadParameterFactMetaData(void)
+void PX4ParameterMetaData::_loadParameterFactMetaData(void)
 {
     if (_parameterMetaDataLoaded) {
         return;
     }
     _parameterMetaDataLoaded = true;
     
-    qCDebug(PX4ParameterLoaderLog) << "Loading PX4 parameter fact meta data";
+    qCDebug(PX4ParameterMetaDataLog) << "Loading PX4 parameter fact meta data";
 
     Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
 
@@ -105,7 +105,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
 		parameterFilename = ":/AutoPilotPlugins/PX4/ParameterFactMetaData.xml";
 	}
 	
-    qCDebug(PX4ParameterLoaderLog) << "Loading parameter meta data:" << parameterFilename;
+    qCDebug(PX4ParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename;
 
     QFile xmlFile(parameterFilename);
     Q_ASSERT(xmlFile.exists());
@@ -172,7 +172,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                     return;
                 }
                 factGroup = xml.attributes().value("name").toString();
-                qCDebug(PX4ParameterLoaderLog) << "Found group: " << factGroup;
+                qCDebug(PX4ParameterMetaDataLog) << "Found group: " << factGroup;
                 
             } else if (elementName == "parameter") {
                 if (xmlState != XmlStateFoundGroup) {
@@ -190,7 +190,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                 QString type = xml.attributes().value("type").toString();
                 QString strDefault = xml.attributes().value("default").toString();
                 
-                qCDebug(PX4ParameterLoaderLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
+                qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;
 
                 // Convert type from string to FactMetaData::ValueType_t
                 
@@ -227,7 +227,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                 Q_CHECK_PTR(metaData);
                 if (_mapParameterName2FactMetaData.contains(name)) {
                     // We can't trust the meta dafa since we have dups
-                    qCWarning(PX4ParameterLoaderLog) << "Duplicate parameter found:" << name;
+                    qCWarning(PX4ParameterMetaDataLog) << "Duplicate parameter found:" << name;
                     badMetaData = true;
                     // Reset to default meta data
                     _mapParameterName2FactMetaData[name] = metaData;
@@ -242,7 +242,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                         if (metaData->convertAndValidate(strDefault, false, varDefault, errorString)) {
                             metaData->setDefaultValue(varDefault);
                         } else {
-                            qCWarning(PX4ParameterLoaderLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
+                            qCWarning(PX4ParameterMetaDataLog) << "Invalid default value, name:" << name << " type:" << type << " default:" << strDefault << " error:" << errorString;
                         }
                     }
                 }
@@ -259,57 +259,57 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
                         text = text.replace("\n", " ");
-                        qCDebug(PX4ParameterLoaderLog) << "Short description:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Short description:" << text;
                         metaData->setShortDescription(text);
 
                     } else if (elementName == "long_desc") {
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
                         text = text.replace("\n", " ");
-                        qCDebug(PX4ParameterLoaderLog) << "Long description:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Long description:" << text;
                         metaData->setLongDescription(text);
                         
                     } else if (elementName == "min") {
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
-                        qCDebug(PX4ParameterLoaderLog) << "Min:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Min:" << text;
                         
                         QVariant varMin;
                         if (metaData->convertAndValidate(text, true /* convertOnly */, varMin, errorString)) {
                             metaData->setMin(varMin);
                         } else {
-                            qCWarning(PX4ParameterLoaderLog) << "Invalid min value, name:" << metaData->name() << " type:" << metaData->type() << " min:" << text << " error:" << errorString;
+                            qCWarning(PX4ParameterMetaDataLog) << "Invalid min value, name:" << metaData->name() << " type:" << metaData->type() << " min:" << text << " error:" << errorString;
                         }
                         
                     } else if (elementName == "max") {
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
-                        qCDebug(PX4ParameterLoaderLog) << "Max:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Max:" << text;
                         
                         QVariant varMax;
                         if (metaData->convertAndValidate(text, true /* convertOnly */, varMax, errorString)) {
                             metaData->setMax(varMax);
                         } else {
-                            qCWarning(PX4ParameterLoaderLog) << "Invalid max value, name:" << metaData->name() << " type:" << metaData->type() << " max:" << text << " error:" << errorString;
+                            qCWarning(PX4ParameterMetaDataLog) << "Invalid max value, name:" << metaData->name() << " type:" << metaData->type() << " max:" << text << " error:" << errorString;
                         }
                         
                     } else if (elementName == "unit") {
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
-                        qCDebug(PX4ParameterLoaderLog) << "Unit:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Unit:" << text;
                         metaData->setUnits(text);
                         
                     } else if (elementName == "decimal") {
                         Q_ASSERT(metaData);
                         QString text = xml.readElementText();
-                        qCDebug(PX4ParameterLoaderLog) << "Decimal:" << text;
+                        qCDebug(PX4ParameterMetaDataLog) << "Decimal:" << text;
 
                         bool convertOk;
                         QVariant varDecimals = QVariant(text).toUInt(&convertOk);
                         if (convertOk) {
                             metaData->setDecimalPlaces(varDecimals.toInt());
                         } else {
-                            qCWarning(PX4ParameterLoaderLog) << "Invalid decimals value, name:" << metaData->name() << " type:" << metaData->type() << " decimals:" << text << " error: invalid number";
+                            qCWarning(PX4ParameterMetaDataLog) << "Invalid decimals value, name:" << metaData->name() << " type:" << metaData->type() << " decimals:" << text << " error: invalid number";
                         }
 
                     } else {
@@ -326,7 +326,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
                     QVariant var;
                     
                     if (!metaData->convertAndValidate(metaData->defaultValue(), false /* convertOnly */, var, errorString)) {
-                        qCWarning(PX4ParameterLoaderLog) << "Invalid default value, name:" << metaData->name() << " type:" << metaData->type() << " default:" << metaData->defaultValue() << " error:" << errorString;
+                        qCWarning(PX4ParameterMetaDataLog) << "Invalid default value, name:" << metaData->name() << " type:" << metaData->type() << " default:" << metaData->defaultValue() << " error:" << errorString;
                     }
                 }
                 
@@ -344,22 +344,14 @@ void PX4ParameterLoader::loadParameterFactMetaData(void)
     }
 }
 
-void PX4ParameterLoader::clearStaticData(void)
-{
-    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
-        delete _mapParameterName2FactMetaData[parameterName];
-    }
-    _mapParameterName2FactMetaData.clear();
-    _parameterMetaDataLoaded = false;
-}
-
 /// Override from FactLoad which connects the meta data to the fact
-void PX4ParameterLoader::_addMetaDataToFact(Fact* fact)
+void PX4ParameterMetaData::addMetaDataToFact(Fact* fact)
 {
     if (_mapParameterName2FactMetaData.contains(fact->name())) {
         fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);
     } else {
         // Use generic meta data
-        ParameterLoader::_addMetaDataToFact(fact);
+        FactMetaData* metaData = new FactMetaData(fact->type(), fact);
+        fact->setMetaData(metaData);
     }
 }

src/FirmwarePlugin/PX4/PX4ParameterMetaData.h

@@ -21,15 +21,14 @@
  
  ======================================================================*/
 
-#ifndef PX4PARAMETERLOADER_H
-#define PX4PARAMETERLOADER_H
+#ifndef PX4ParameterMetaData_H
+#define PX4ParameterMetaData_H
 
 #include <QObject>
 #include <QMap>
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
-#include "ParameterLoader.h"
 #include "FactSystem.h"
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
@@ -37,23 +36,18 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-Q_DECLARE_LOGGING_CATEGORY(PX4ParameterLoaderLog)
+Q_DECLARE_LOGGING_CATEGORY(PX4ParameterMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
-class PX4ParameterLoader : public ParameterLoader
+class PX4ParameterMetaData : public QObject
 {
     Q_OBJECT
     
 public:
-    /// @param uas Uas which this set of facts is associated with
-    PX4ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent = NULL);
+    PX4ParameterMetaData(QObject* parent = NULL);
 
-    /// Override from ParameterLoader
-    virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
-    
-    static void loadParameterFactMetaData(void);
-    static void clearStaticData(void);
+    void addMetaDataToFact(Fact* fact);
 
 private:
     enum {
@@ -65,10 +59,7 @@ private:
         XmlStateDone
     };    
 
-    // Overrides from ParameterLoader
-    virtual void _addMetaDataToFact(Fact* fact);
-
-    // Class methods
+    static void _loadParameterFactMetaData(void);
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
 
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded

src/Vehicle/Vehicle.cc

@@ -32,6 +32,7 @@
 #include "JoystickManager.h"
 #include "MissionManager.h"
 #include "CoordinateVector.h"
+#include "ParameterLoader.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -89,6 +90,7 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     , _updateCount(0)
     , _missionManager(NULL)
     , _missionManagerInitialRequestComplete(false)
+    , _parameterLoader(NULL)
     , _armed(false)
     , _base_mode(0)
     , _custom_mode(0)
@@ -157,6 +159,10 @@ Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType,
     _missionManager = new MissionManager(this);
     connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
 
+    _parameterLoader = new ParameterLoader(_autopilotPlugin, this /* Vehicle */, this /* parent */);
+    connect(_parameterLoader, SIGNAL(parametersReady(bool)),        _autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
+    connect(_parameterLoader, SIGNAL(parameterListProgress(float)), _autopilotPlugin, SLOT(parameterListProgress(float)));
+
     _firmwarePlugin->initializeVehicle(this);
     
     _sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
@@ -1148,3 +1154,8 @@ void Vehicle::_communicationInactivityTimedOut(void)
         linkMgr->disconnectLink(_links[i].data());
     }
 }
+
+ParameterLoader* Vehicle::getParameterLoader(void)
+{
+    return _parameterLoader;
+}

src/Vehicle/Vehicle.h

@@ -42,6 +42,7 @@ class UASInterface;
 class FirmwarePlugin;
 class AutoPilotPlugin;
 class MissionManager;
+class ParameterLoader;
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -249,6 +250,8 @@ public:
     uint16_t        currentWaypoint     () { return _currentWaypoint; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
 
+    ParameterLoader* getParameterLoader(void);
+    
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);
@@ -412,6 +415,8 @@ private:
     MissionManager*     _missionManager;
     bool                _missionManagerInitialRequestComplete;
 
+    ParameterLoader*    _parameterLoader;
+    
     bool    _armed;         ///< true: vehicle is armed
     uint8_t _base_mode;     ///< base_mode from HEARTBEAT
     uint32_t _custom_mode;  ///< custom_mode from HEARTBEAT