More works towards removing UAS completely

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -27,8 +27,8 @@
 #include "APMAirframeComponent.h"
 #include "QGCQmlWidgetHolder.h"
 
-APMAirframeComponent::APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    APMComponent(uas, autopilot, parent),
+APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    APMComponent(vehicle, autopilot, parent),
     _name(tr("Airframe"))
 {
 

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -31,7 +31,7 @@ class APMAirframeComponent : public APMComponent
     Q_OBJECT
     
 public:
-    APMAirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from APMComponent
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -48,7 +48,7 @@ const QVariantList& APMAutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
 
         if (parametersReady()) {
-            _airframeComponent = new APMAirframeComponent(_vehicle->uas(), this);
+            _airframeComponent = new APMAirframeComponent(_vehicle, this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));

src/AutoPilotPlugins/APM/APMComponent.cc

@@ -28,10 +28,10 @@
 #include "Fact.h"
 #include "AutoPilotPlugin.h"
 
-APMComponent::APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(uas, autopilot, parent)
+APMComponent::APMComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/AutoPilotPlugins/APM/APMComponent.h

@@ -37,7 +37,7 @@ class APMComponent : public VehicleComponent
     Q_OBJECT
     
 public:
-    APMComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    APMComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL.

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -170,7 +170,7 @@ const QMap<int, QMap<QString, QStringList> >& AutoPilotPlugin::getGroupMap(void)
 
 void AutoPilotPlugin::writeParametersToStream(QTextStream &stream)
 {
-    _vehicle->getParameterLoader()->writeParametersToStream(stream, _vehicle->uas()->getUASName());
+    _vehicle->getParameterLoader()->writeParametersToStream(stream);
 }
 
 QString AutoPilotPlugin::readParametersFromStream(QTextStream &stream)

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -68,8 +68,8 @@ static const struct mavType mavTypeInfo[] = {
 static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
 #endif
 
-AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+AirframeComponent::AirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Airframe"))
 {
 #if 0

src/AutoPilotPlugins/PX4/AirframeComponent.h

@@ -35,7 +35,7 @@ class AirframeComponent : public PX4Component
     Q_OBJECT
     
 public:
-    AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    AirframeComponent(Vehicle* vehicles, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -43,8 +43,8 @@ static const SwitchListItem switchList[] = {
 };
 static const size_t cSwitchList = sizeof(switchList) / sizeof(switchList[0]);
 
-FlightModesComponent::FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+FlightModesComponent::FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Flight Modes"))
 {
 }

src/AutoPilotPlugins/PX4/FlightModesComponent.h

@@ -35,7 +35,7 @@ class FlightModesComponent : public PX4Component
     Q_OBJECT
     
 public:
-    FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    FlightModesComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -66,7 +66,7 @@ FlightModesComponentController::~FlightModesComponentController()
 void FlightModesComponentController::_init(void)
 {
     // FIXME: What about VTOL? That confuses the whole Flight Mode naming scheme
-    _fixedWing = _uas->getSystemType() == MAV_TYPE_FIXED_WING;
+    _fixedWing = _vehicle->vehicleType() == MAV_TYPE_FIXED_WING;
     
     // We need to know min and max for channel in order to calculate percentage range
     for (int channel=0; channel<_chanMax; channel++) {

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -94,32 +94,32 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
         Q_ASSERT(_vehicle);
         
         if (parametersReady()) {
-            _airframeComponent = new AirframeComponent(_vehicle->uas(), this);
+            _airframeComponent = new AirframeComponent(_vehicle, this);
             Q_CHECK_PTR(_airframeComponent);
             _airframeComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));
             
-            _radioComponent = new RadioComponent(_vehicle->uas(), this);
+            _radioComponent = new RadioComponent(_vehicle, this);
             Q_CHECK_PTR(_radioComponent);
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
             
-            _flightModesComponent = new FlightModesComponent(_vehicle->uas(), this);
+            _flightModesComponent = new FlightModesComponent(_vehicle, this);
             Q_CHECK_PTR(_flightModesComponent);
             _flightModesComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));
             
-            _sensorsComponent = new SensorsComponent(_vehicle->uas(), this);
+            _sensorsComponent = new SensorsComponent(_vehicle, this);
             Q_CHECK_PTR(_sensorsComponent);
             _sensorsComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
             
-            _powerComponent = new PowerComponent(_vehicle->uas(), this);
+            _powerComponent = new PowerComponent(_vehicle, this);
             Q_CHECK_PTR(_powerComponent);
             _powerComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_powerComponent));
             
-            _safetyComponent = new SafetyComponent(_vehicle->uas(), this);
+            _safetyComponent = new SafetyComponent(_vehicle, this);
             Q_CHECK_PTR(_safetyComponent);
             _safetyComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_safetyComponent));

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -28,10 +28,10 @@
 #include "Fact.h"
 #include "AutoPilotPlugin.h"
 
-PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    VehicleComponent(uas, autopilot, parent)
+PX4Component::PX4Component(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(vehicle, autopilot, parent)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/AutoPilotPlugins/PX4/PX4Component.h

@@ -37,7 +37,7 @@ class PX4Component : public VehicleComponent
     Q_OBJECT
     
 public:
-    PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    PX4Component(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an list of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL.

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-PowerComponent::PowerComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+PowerComponent::PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Power"))
 {
 }

src/AutoPilotPlugins/PX4/PowerComponent.h

@@ -35,7 +35,7 @@ class PowerComponent : public PX4Component
     Q_OBJECT
     
 public:
-    PowerComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    PowerComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+RadioComponent::RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Radio"))
 {
 }

src/AutoPilotPlugins/PX4/RadioComponent.h

@@ -36,7 +36,7 @@ class RadioComponent : public PX4Component
     Q_OBJECT
     
 public:
-    RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    RadioComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/SafetyComponent.cc

@@ -28,8 +28,8 @@
 #include "QGCQmlWidgetHolder.h"
 #include "PX4AutoPilotPlugin.h"
 
-SafetyComponent::SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+SafetyComponent::SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Safety"))
 {
 }

src/AutoPilotPlugins/PX4/SafetyComponent.h

@@ -36,7 +36,7 @@ class SafetyComponent : public PX4Component
     Q_OBJECT
     
 public:
-    SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    SafetyComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -31,8 +31,8 @@
 
 // These two list must be kept in sync
 
-SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
-    PX4Component(uas, autopilot, parent),
+SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(vehicle, autopilot, parent),
     _name(tr("Sensors"))
 {
 
@@ -87,11 +87,15 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
     QStringList triggers;
     
     triggers << "CAL_MAG0_ID" << "CAL_GYRO0_ID" << "CAL_ACC0_ID";
-    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR) {
-        triggers << "SENS_DPRES_OFF";
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            triggers << "SENS_DPRES_OFF";
+            break;
+        default:
+            break;
     }
     
     return triggers;
@@ -115,13 +119,16 @@ QUrl SensorsComponent::summaryQmlSource(void) const
 {
     QString summaryQml;
     
-    if (_uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-        _uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR) {
-        summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
-    } else {
-        summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            summaryQml = "qrc:/qml/SensorsComponentSummaryFixedWing.qml";
+            break;
+        default:
+            summaryQml = "qrc:/qml/SensorsComponentSummary.qml";
+            break;
     }
     
     return QUrl::fromUserInput(summaryQml);

src/AutoPilotPlugins/PX4/SensorsComponent.h

@@ -35,7 +35,7 @@ class SensorsComponent : public PX4Component
     Q_OBJECT
     
 public:
-    SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual QStringList setupCompleteChangedTriggerList(void) const;

src/AutoPilotPlugins/PX4/SensorsComponentController.cc

@@ -445,12 +445,15 @@ void SensorsComponentController::_refreshParams(void)
 
 bool SensorsComponentController::fixedWing(void)
 {
-    UASInterface* uas = _autopilot->vehicle()->uas();
-    Q_ASSERT(uas);
-    return uas->getSystemType() == MAV_TYPE_FIXED_WING ||
-            uas->getSystemType() == MAV_TYPE_VTOL_DUOROTOR ||
-            uas->getSystemType() == MAV_TYPE_VTOL_QUADROTOR ||
-            uas->getSystemType() == MAV_TYPE_VTOL_TILTROTOR;
+    switch (_vehicle->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+            return true;
+        default:
+            return false;
+    }
 }
 
 void SensorsComponentController::_updateAndEmitShowOrientationCalArea(bool show)

src/FactSystem/ParameterLoader.cc

@@ -708,9 +708,9 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
     return errors;
 }
 
-void ParameterLoader::writeParametersToStream(QTextStream &stream, const QString& name)
+void ParameterLoader::writeParametersToStream(QTextStream &stream)
 {
-    stream << "# Onboard parameters for system " << name << "\n";
+    stream << "# Onboard parameters for vehicle " << _vehicle->id() << "\n";
     stream << "#\n";
     stream << "# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)\n";
 

src/FactSystem/ParameterLoader.h

@@ -85,7 +85,7 @@ public:
     /// Returns error messages from loading
     QString readParametersFromStream(QTextStream& stream);
     
-    void writeParametersToStream(QTextStream &stream, const QString& name);
+    void writeParametersToStream(QTextStream &stream);
     
 signals:
     /// Signalled when the full set of facts are ready

src/Vehicle/Vehicle.cc

@@ -90,8 +90,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _batteryPercent(0.0)
     , _batteryConsumed(-1.0)
     , _currentHeartbeatTimeout(0)
-    , _waypointDistance(0.0)
-    , _currentWaypoint(0)
     , _satelliteCount(-1)
     , _satelliteLock(0)
     , _updateCount(0)
@@ -154,15 +152,12 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
     connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
     connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
-    connect(_mav, &UASInterface::nameChanged,                       this, &Vehicle::_updateName);
-    connect(_mav, &UASInterface::systemTypeSet,                     this, &Vehicle::_setSystemType);
     connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
     UAS* pUas = dynamic_cast<UAS*>(_mav);
     if(pUas) {
         _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
         connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
     }
-    _setSystemType(_mav, _mav->getSystemType());
     
     _loadSettings();
     
@@ -188,8 +183,6 @@ Vehicle::Vehicle(LinkInterface*             link,
 
 Vehicle::~Vehicle()
 {
-    qDebug() << "~Vehicle";
-
     delete _missionManager;
     _missionManager = NULL;
 
@@ -519,12 +512,6 @@ void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, f
  * Internal
  */
 
-bool Vehicle::_isAirplane() {
-    if (_mav)
-        return _mav->isAirplane();
-    return false;
-}
-
 void Vehicle::_addChange(int id)
 {
     if(!_changes.contains(id)) {
@@ -639,86 +626,6 @@ void Vehicle::_updateState(UASInterface*, QString name, QString)
     }
 }
 
-void Vehicle::_updateName(const QString& name)
-{
-    if (_systemName != name) {
-        _systemName = name;
-        emit systemNameChanged();
-    }
-}
-
-/**
- * The current system type is represented through the system icon.
- *
- * @param uas Source system, has to be the same as this->uas
- * @param systemType type ID, following the MAVLink system type conventions
- * @see http://pixhawk.ethz.ch/software/mavlink
- */
-void Vehicle::_setSystemType(UASInterface*, unsigned int systemType)
-{
-    _systemPixmap = "qrc:/res/mavs/";
-    switch (systemType) {
-        case MAV_TYPE_GENERIC:
-            _systemPixmap += "Generic";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            _systemPixmap += "FixedWing";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            _systemPixmap += "QuadRotor";
-            break;
-        case MAV_TYPE_COAXIAL:
-            _systemPixmap += "Coaxial";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            _systemPixmap += "Helicopter";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            _systemPixmap += "AntennaTracker";
-            break;
-        case MAV_TYPE_GCS:
-            _systemPixmap += "Groundstation";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            _systemPixmap += "Airship";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            _systemPixmap += "FreeBalloon";
-            break;
-        case MAV_TYPE_ROCKET:
-            _systemPixmap += "Rocket";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            _systemPixmap += "GroundRover";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            _systemPixmap += "SurfaceBoat";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            _systemPixmap += "Submarine";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            _systemPixmap += "HexaRotor";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            _systemPixmap += "OctoRotor";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            _systemPixmap += "TriCopter";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            _systemPixmap += "FlappingWing";
-            break;
-        case MAV_TYPE_KITE:
-            _systemPixmap += "Kite";
-            break;
-        default:
-            _systemPixmap += "Unknown";
-            break;
-    }
-    emit systemPixmapChanged();
-}
-
 void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
 {
     unsigned int elapsed = ms;
@@ -756,39 +663,6 @@ void Vehicle::_setSatLoc(UASInterface*, int fix)
     }
 }
 
-void Vehicle::_updateWaypointDistance(double distance)
-{
-    if (_waypointDistance != distance) {
-        _waypointDistance = distance;
-        emit waypointDistanceChanged();
-    }
-}
-
-void Vehicle::_updateCurrentWaypoint(quint16 id)
-{
-    if (_currentWaypoint != id) {
-        _currentWaypoint = id;
-        emit currentWaypointChanged();
-    }
-}
-
-void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
-{
-    /*
-     bool changed = false;
-     for(int i = 0; i < _waypoints.count(); i++) {
-     if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) {
-     _waypoints[i] = *wp;
-     changed = true;
-     break;
-     }
-     }
-     if(changed) {
-     emit waypointListChanged();
-     }
-     */
-}
-
 void Vehicle::_handleTextMessage(int newCount)
 {
     // Reset?

src/Vehicle/Vehicle.h

@@ -63,9 +63,8 @@ public:
             JoystickManager*        joystickManager);
     ~Vehicle();
     
-    Q_PROPERTY(int id READ id CONSTANT)
-    Q_PROPERTY(AutoPilotPlugin* autopilot MEMBER _autopilotPlugin CONSTANT)
-    
+    Q_PROPERTY(int                  id                      READ id                                     CONSTANT)
+    Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                     CONSTANT)
     Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                             NOTIFY coordinateChanged)
     Q_PROPERTY(bool                 coordinateValid         READ coordinateValid                        NOTIFY coordinateValidChanged)
     Q_PROPERTY(MissionManager*      missionManager          MEMBER _missionManager                      CONSTANT)
@@ -78,54 +77,51 @@ public:
     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                roll                    READ roll                                   NOTIFY rollChanged)
+    Q_PROPERTY(float                pitch                   READ pitch                                  NOTIFY pitchChanged)
+    Q_PROPERTY(float                heading                 READ heading                                NOTIFY headingChanged)
+    Q_PROPERTY(float                groundSpeed             READ groundSpeed                            NOTIFY groundSpeedChanged)
+    Q_PROPERTY(float                airSpeed                READ airSpeed                               NOTIFY airSpeedChanged)
+    Q_PROPERTY(float                climbRate               READ climbRate                              NOTIFY climbRateChanged)
+    Q_PROPERTY(float                altitudeRelative        READ altitudeRelative                       NOTIFY altitudeRelativeChanged)
+    Q_PROPERTY(float                altitudeWGS84           READ altitudeWGS84                          NOTIFY altitudeWGS84Changed)
+    Q_PROPERTY(float                altitudeAMSL            READ altitudeAMSL                           NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(float                latitude                READ latitude                               NOTIFY coordinateChanged)
+    Q_PROPERTY(float                longitude               READ longitude                              NOTIFY coordinateChanged)
+    Q_PROPERTY(double               batteryVoltage          READ batteryVoltage                         NOTIFY batteryVoltageChanged)
+    Q_PROPERTY(double               batteryPercent          READ batteryPercent                         NOTIFY batteryPercentChanged)
+    Q_PROPERTY(double               batteryConsumed         READ batteryConsumed                        NOTIFY batteryConsumedChanged)
+    Q_PROPERTY(int                  satelliteCount          READ satelliteCount                         NOTIFY satelliteCountChanged)
+    Q_PROPERTY(QString              currentState            READ currentState                           NOTIFY currentStateChanged)
+    Q_PROPERTY(int                  satelliteLock           READ satelliteLock                          NOTIFY satelliteLockChanged)
+    Q_PROPERTY(unsigned int         heartbeatTimeout        READ heartbeatTimeout                       NOTIFY heartbeatTimeoutChanged)
+    Q_PROPERTY(QmlObjectListModel*  missionItems            READ missionItemsModel                      CONSTANT)
+    Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                        NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool                 messageTypeNormal       READ messageTypeNormal                      NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool                 messageTypeWarning      READ messageTypeWarning                     NOTIFY messageTypeChanged)
+    Q_PROPERTY(bool                 messageTypeError        READ messageTypeError                       NOTIFY messageTypeChanged)
+    Q_PROPERTY(int                  newMessageCount         READ newMessageCount                        NOTIFY newMessageCountChanged)
+    Q_PROPERTY(int                  messageCount            READ messageCount                           NOTIFY messageCountChanged)
+    Q_PROPERTY(QString              latestError             READ latestError                            NOTIFY latestErrorChanged)
+    Q_PROPERTY(int                  joystickMode            READ joystickMode       WRITE setJoystickMode NOTIFY joystickModeChanged)
+    Q_PROPERTY(QStringList          joystickModes           READ joystickModes                          CONSTANT)
+    Q_PROPERTY(bool                 joystickEnabled         READ joystickEnabled    WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
+    Q_PROPERTY(bool                 active READ active      WRITE setActive                             NOTIFY activeChanged)
+
+    /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
+    /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
+    /// The remainder can be assigned to Vehicle actions.
+    /// @return -1: reserver all buttons, >0 number of buttons to reserve
+    Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
+
+    Q_INVOKABLE QString     getMavIconColor();
 
     // Property accessors
 
     QGeoCoordinate coordinate(void) { return _coordinate; }
     bool coordinateValid(void)      { return _coordinateValid; }
-    
-    Q_INVOKABLE QString     getMavIconColor();
-    
-    //-- System Messages
-    Q_PROPERTY(bool         messageTypeNone     READ messageTypeNone    NOTIFY messageTypeChanged)
-    Q_PROPERTY(bool         messageTypeNormal   READ messageTypeNormal  NOTIFY messageTypeChanged)
-    Q_PROPERTY(bool         messageTypeWarning  READ messageTypeWarning NOTIFY messageTypeChanged)
-    Q_PROPERTY(bool         messageTypeError    READ messageTypeError   NOTIFY messageTypeChanged)
-    Q_PROPERTY(int          newMessageCount     READ newMessageCount    NOTIFY newMessageCountChanged)
-    Q_PROPERTY(int          messageCount        READ messageCount       NOTIFY messageCountChanged)
-    Q_PROPERTY(QString      latestError         READ latestError        NOTIFY latestErrorChanged)
-    //-- UAV Stats
-    Q_PROPERTY(float        roll                READ roll               NOTIFY rollChanged)
-    Q_PROPERTY(float        pitch               READ pitch              NOTIFY pitchChanged)
-    Q_PROPERTY(float        heading             READ heading            NOTIFY headingChanged)
-    Q_PROPERTY(float        groundSpeed         READ groundSpeed        NOTIFY groundSpeedChanged)
-    Q_PROPERTY(float        airSpeed            READ airSpeed           NOTIFY airSpeedChanged)
-    Q_PROPERTY(float        climbRate           READ climbRate          NOTIFY climbRateChanged)
-    Q_PROPERTY(float        altitudeRelative    READ altitudeRelative   NOTIFY altitudeRelativeChanged)
-    Q_PROPERTY(float        altitudeWGS84       READ altitudeWGS84      NOTIFY altitudeWGS84Changed)
-    Q_PROPERTY(float        altitudeAMSL        READ altitudeAMSL       NOTIFY altitudeAMSLChanged)
-    Q_PROPERTY(float        latitude            READ latitude           NOTIFY coordinateChanged)
-    Q_PROPERTY(float        longitude           READ longitude          NOTIFY coordinateChanged)
-    Q_PROPERTY(double       batteryVoltage      READ batteryVoltage     NOTIFY batteryVoltageChanged)
-    Q_PROPERTY(double       batteryPercent      READ batteryPercent     NOTIFY batteryPercentChanged)
-    Q_PROPERTY(double       batteryConsumed     READ batteryConsumed    NOTIFY batteryConsumedChanged)
-    Q_PROPERTY(QString      systemPixmap        READ systemPixmap       NOTIFY systemPixmapChanged)
-    Q_PROPERTY(int          satelliteCount      READ satelliteCount     NOTIFY satelliteCountChanged)
-    Q_PROPERTY(QString      currentState        READ currentState       NOTIFY currentStateChanged)
-    Q_PROPERTY(QString      systemName          READ systemName         NOTIFY systemNameChanged)
-    Q_PROPERTY(int          satelliteLock       READ satelliteLock      NOTIFY satelliteLockChanged)
-    Q_PROPERTY(double       waypointDistance    READ waypointDistance   NOTIFY waypointDistanceChanged)
-    Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
-    Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
-    
-    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel CONSTANT)
     QmlObjectListModel* missionItemsModel(void);
     
-    /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
-    /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
-    /// The remainder can be assigned to Vehicle actions.
-    /// @return -1: reserver all buttons, >0 number of buttons to reserve
-    Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
     
     typedef enum {
         JoystickModeRC,         ///< Joystick emulates an RC Transmitter
@@ -136,22 +132,16 @@ public:
         JoystickModeMax
     } JoystickMode_t;
     
-    /// The joystick mode associated with this vehicle. Joystick modes are stored keyed by mavlink system id.
-    Q_PROPERTY(int joystickMode READ joystickMode WRITE setJoystickMode NOTIFY joystickModeChanged)
     int joystickMode(void);
     void setJoystickMode(int mode);
     
     /// List of joystick mode names
-    Q_PROPERTY(QStringList joystickModes READ joystickModes CONSTANT)
     QStringList joystickModes(void);
     
-    // Enable/Disable joystick for this vehicle
-    Q_PROPERTY(bool joystickEnabled READ joystickEnabled WRITE setJoystickEnabled NOTIFY joystickEnabledChanged)
     bool joystickEnabled(void);
     void setJoystickEnabled(bool enabled);
     
     // Is vehicle active with respect to current active vehicle in QGC
-    Q_PROPERTY(bool active READ active WRITE setActive NOTIFY activeChanged)
     bool active(void);
     void setActive(bool active);
     
@@ -227,7 +217,6 @@ public:
     // Called when the message drop-down is invoked to clear current count
     void resetMessages();
     
-    
     bool            messageTypeNone     () { return _currentMessageType == MessageNone; }
     bool            messageTypeNormal   () { return _currentMessageType == MessageNormal; }
     bool            messageTypeWarning  () { return _currentMessageType == MessageWarning; }
@@ -251,12 +240,8 @@ public:
     double          batteryVoltage      () { return _batteryVoltage; }
     double          batteryPercent      () { return _batteryPercent; }
     double          batteryConsumed     () { return _batteryConsumed; }
-    QString         systemPixmap        () { return _systemPixmap; }
     QString         currentState        () { return _currentState; }
-    QString         systemName          () { return _systemName; }
     int             satelliteLock       () { return _satelliteLock; }
-    double          waypointDistance    () { return _waypointDistance; }
-    uint16_t        currentWaypoint     () { return _currentWaypoint; }
     unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
 
     ParameterLoader* getParameterLoader(void);
@@ -302,13 +287,9 @@ signals:
     void batteryConsumedChanged ();
     void heartbeatTimeoutChanged();
     void currentConfigChanged   ();
-    void systemPixmapChanged    ();
     void satelliteCountChanged  ();
     void currentStateChanged    ();
-    void systemNameChanged      ();
     void satelliteLockChanged   ();
-    void waypointDistanceChanged();
-    void currentWaypointChanged ();
     
 private slots:
     void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
@@ -324,9 +305,7 @@ private slots:
     void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
     /** @brief Attitude from one specific component / redundant autopilot */
     void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
-    /** @brief Speed */
     void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
-    /** @brief Altitude */
     void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
     void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
@@ -334,14 +313,9 @@ private slots:
     void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
     void _updateBatteryConsumedChanged      (UASInterface*, double current_consumed);
     void _updateState                       (UASInterface* system, QString name, QString description);
-    void _updateName                        (const QString& name);
-    void _setSystemType                     (UASInterface* uas, unsigned int systemType);
     void _heartbeatTimeout                  (bool timeout, unsigned int ms);
-    void _updateCurrentWaypoint             (quint16 id);
-    void _updateWaypointDistance            (double distance);
     void _setSatelliteCount                 (double val, QString name);
     void _setSatLoc                         (UASInterface* uas, int fix);
-    void _updateWaypointViewOnly            (int uas, MissionItem* wp);
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -355,7 +329,6 @@ private:
     void _mapTrajectoryStart(void);
     void _mapTrajectoryStop(void);
 
-    bool    _isAirplane                     ();
     void    _addChange                      (int id);
     float   _oneDecimal                     (float value);
 
@@ -412,11 +385,7 @@ private:
     double          _batteryPercent;
     double          _batteryConsumed;
     QString         _currentState;
-    QString         _systemName;
-    QString         _systemPixmap;
     unsigned int    _currentHeartbeatTimeout;
-    double          _waypointDistance;
-    quint16         _currentWaypoint;
     int             _satelliteCount;
     int             _satelliteLock;
     int             _updateCount;

src/VehicleSetup/VehicleComponent.cc

@@ -27,12 +27,12 @@
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
 
-VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+VehicleComponent::VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
     QObject(parent),
-    _uas(uas),
+    _vehicle(vehicle),
     _autopilot(autopilot)
 {
-    Q_ASSERT(uas);
+    Q_ASSERT(vehicle);
     Q_ASSERT(autopilot);
 }
 

src/VehicleSetup/VehicleComponent.h

@@ -31,7 +31,7 @@
 #include <QQmlContext>
 #include <QQuickItem>
 
-#include "UASInterface.h"
+#include "Vehicle.h"
 
 class AutoPilotPlugin;
 
@@ -53,7 +53,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QString prerequisiteSetup READ prerequisiteSetup)
     
 public:
-    VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    VehicleComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     ~VehicleComponent();
     
     virtual QString name(void) const = 0;
@@ -73,8 +73,8 @@ signals:
     void setupCompleteChanged(bool setupComplete);
     
 protected:
-    UASInterface*                   _uas;
-    AutoPilotPlugin*                _autopilot;
+    Vehicle*            _vehicle;
+    AutoPilotPlugin*    _autopilot;
 };
 
 #endif

src/comm/QGCFlightGearLink.cc

@@ -47,28 +47,30 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMessageBox.h"
 #include "HomePositionManager.h"
 #include "QGCApplication.h"
+#include "Vehicle.h"
+#include "UAS.h"
 
 // FlightGear _fgProcess start and connection is quite fragile. Uncomment the define below to get higher level of debug output
 // for tracking down problems.
 //#define DEBUG_FLIGHTGEAR_CONNECT
 
-QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
-    flightGearVersion(3),
-    startupArguments(startupArguments),
-    _sensorHilEnabled(true),
-    barometerOffsetkPa(0.0f),
-    _udpCommSocket(NULL),
-    _fgProcess(NULL)
+QGCFlightGearLink::QGCFlightGearLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
+    : _vehicle(vehicle)
+    , _udpCommSocket(NULL)
+    , _fgProcess(NULL)
+    , flightGearVersion(3)
+    , startupArguments(startupArguments)
+    , _sensorHilEnabled(true)
+    , barometerOffsetkPa(0.0f)
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
     moveToThread(this);
 
     this->host = host;
-    this->port = port+mav->getUASID();
+    this->port = port + _vehicle->id();
     this->connectState = false;
-    this->currentPort = 49000+mav->getUASID();
-    this->mav = mav;
+    this->currentPort = 49000 + _vehicle->id();
     this->name = tr("FlightGear 3.0+ Link (port:%1)").arg(port);
     setRemoteHost(remoteHost);
     
@@ -88,7 +90,7 @@ QGCFlightGearLink::~QGCFlightGearLink()
 /// @brief Runs the simulation thread. We do setup work here which needs to happen in the seperate thread.
 void QGCFlightGearLink::run()
 {
-    Q_ASSERT(mav);
+    Q_ASSERT(_vehicle);
     Q_ASSERT(!_fgProcessName.isEmpty());
         
     // We communicate with FlightGear over a UDP _udpCommSocket
@@ -100,16 +102,16 @@ void QGCFlightGearLink::run()
     
     
     // Connect to the various HIL signals that we use to then send information across the UDP protocol to FlightGear.
-    connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
+    connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)),
             this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
     connect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)),
-            mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
+            _vehicle->uas(), SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
     connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)),
-            mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
+            _vehicle->uas(), SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
     connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)),
-            mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+            _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
     connect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
-            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
+            _vehicle->uas(), SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
     
     // Start a new QProcess to run FlightGear in
     _fgProcess = new QProcess(this);
@@ -430,7 +432,7 @@ void QGCFlightGearLink::readBytes()
         zmag_body = mag_body(2);
 
         emit sensorHilRawImuChanged(QGC::groundTimeUsecs(), xacc, yacc, zacc, rollspeed, pitchspeed, yawspeed,
-                                    xmag_body, ymag_body, zmag_body, abs_pressure*1e-2f, diff_pressure*1e-2f, pressure_alt, temperature, fields_changed); //Pressure in hPa for mavlink
+                                    xmag_body, ymag_body, zmag_body, abs_pressure*1e-2f, diff_pressure*1e-2f, pressure_alt, temperature, fields_changed); //Pressure in hPa for _vehicle->uas()link
 
 //        qDebug()  << "sensorHilRawImuChanged " << xacc  << yacc << zacc  << rollspeed << pitchspeed << yawspeed << xmag << ymag << zmag << abs_pressure << diff_pressure << pressure_alt << temperature;
         int gps_fix_type = 3;
@@ -491,12 +493,12 @@ bool QGCFlightGearLink::disconnectSimulation()
 {
     disconnect(_fgProcess, SIGNAL(error(QProcess::ProcessError)),
                this, SLOT(processError(QProcess::ProcessError)));
-    disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-    disconnect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
-    disconnect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
-    disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+    disconnect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+    disconnect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), _vehicle->uas(), SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
+    disconnect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), _vehicle->uas(), SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
+    disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
     disconnect(this, SIGNAL(sensorHilOpticalFlowChanged(quint64, qint16, qint16, float,float, quint8, float)),
-            mav, SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
+            _vehicle->uas(), SLOT(sendHilOpticalFlow(quint64, qint16, qint16, float, float, quint8, float)));
 
     if (_fgProcess)
     {
@@ -629,7 +631,7 @@ bool QGCFlightGearLink::connectSimulation()
     // have that information setup we start the thread which will call run, which will in turn
     // start the various FG processes on the seperate thread.
     
-    if (!mav) {
+    if (!_vehicle->uas()) {
         return false;
     }
     
@@ -846,7 +848,7 @@ bool QGCFlightGearLink::connectSimulation()
     _fgArgList += "--fg-aircraft=" + qgcAircraftDir;
     
     // Setup protocol we will be using to communicate with FlightGear
-    QString fgProtocol(mav->getSystemType() == MAV_TYPE_QUADROTOR ? "qgroundcontrol-quadrotor" : "qgroundcontrol-fixed-wing");
+    QString fgProtocol(_vehicle->vehicleType() == MAV_TYPE_QUADROTOR ? "qgroundcontrol-quadrotor" : "qgroundcontrol-fixed-wing");
     QString fgProtocolArg("--generic=socket,%1,300,127.0.0.1,%2,udp,%3");
     _fgArgList << fgProtocolArg.arg("out").arg(port).arg(fgProtocol);
     _fgArgList << fgProtocolArg.arg("in").arg(currentPort).arg(fgProtocol);
@@ -947,7 +949,7 @@ bool QGCFlightGearLink::connectSimulation()
     }
     
     // Start the engines to save a startup step
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR) {
+    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR) {
         // Start all engines of the quad
         _fgArgList << "--prop:/engines/engine[0]/running=true";
         _fgArgList << "--prop:/engines/engine[1]/running=true";

src/comm/QGCFlightGearLink.h

@@ -38,18 +38,20 @@ This file is part of the QGROUNDCONTROL project
 #include <QUdpSocket>
 #include <QTimer>
 #include <QProcess>
-#include <LinkInterface.h>
+
+#include "LinkInterface.h"
 #include "QGCConfig.h"
 #include "UASInterface.h"
 #include "QGCHilLink.h"
-#include <QGCHilFlightGearConfiguration.h>
+#include "QGCHilFlightGearConfiguration.h"
+#include "Vehicle.h"
 
 class QGCFlightGearLink : public QGCHilLink
 {
     Q_OBJECT
 
 public:
-    QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    QGCFlightGearLink(Vehicle* vehicle, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
     ~QGCFlightGearLink();
 
     bool isConnected();
@@ -135,20 +137,6 @@ public slots:
     void processError(QProcess::ProcessError err);
 
 protected:
-    QString name;
-    QHostAddress host;
-    QHostAddress currentHost;
-    quint16 currentPort;
-    quint16 port;
-    int id;
-    bool connectState;
-
-    UASInterface* mav;
-    unsigned int flightGearVersion;
-    QString startupArguments;
-    bool _sensorHilEnabled;
-    float barometerOffsetkPa;
-
     void setName(QString name);
     
 private slots:
@@ -158,6 +146,7 @@ private slots:
 private:
     static bool _findUIArgument(const QStringList& uiArgList, const QString& argLabel, QString& argValue);
 
+    Vehicle*    _vehicle;
     QString     _fgProcessName;             ///< FlightGear process to start
     QString     _fgProcessWorkingDirPath;   ///< Working directory to start FG process in, empty for none
     QStringList _fgArgList;                 ///< Arguments passed to FlightGear process
@@ -166,6 +155,19 @@ private:
     QProcess*   _fgProcess;                 ///< FlightGear process
     
     QString     _fgProtocolFileFullyQualified;  ///< Fully qualified file name for protocol file
+
+    QString name;
+    QHostAddress host;
+    QHostAddress currentHost;
+    quint16 currentPort;
+    quint16 port;
+    int id;
+    bool connectState;
+
+    unsigned int flightGearVersion;
+    QString startupArguments;
+    bool _sensorHilEnabled;
+    float barometerOffsetkPa;
 };
 
 #endif // QGCFLIGHTGEARLINK_H

src/comm/QGCJSBSimLink.cc

@@ -41,20 +41,20 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "QGCMessageBox.h"
 
-QGCJSBSimLink::QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
-    socket(NULL),
-    process(NULL),
-    startupArguments(startupArguments)
+QGCJSBSimLink::QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port)
+    : _vehicle(vehicle)
+    , socket(NULL)
+    , process(NULL)
+    , startupArguments(startupArguments)
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
     moveToThread(this);
 
     this->host = host;
-    this->port = port+mav->getUASID();
+    this->port = port + _vehicle->id();
     this->connectState = false;
-    this->currentPort = 49000+mav->getUASID();
-    this->mav = mav;
+    this->currentPort = 49000 + _vehicle->id();
     this->name = tr("JSBSim Link (port:%1)").arg(port);
     setRemoteHost(remoteHost);
 }
@@ -75,7 +75,7 @@ void QGCJSBSimLink::run()
 {
     qDebug() << "STARTING FLIGHTGEAR LINK";
 
-    if (!mav) return;
+    if (!_vehicle) return;
     socket = new QUdpSocket(this);
     socket->moveToThread(this);
     connectState = socket->bind(host, port, QAbstractSocket::ReuseAddressHint);
@@ -84,15 +84,11 @@ void QGCJSBSimLink::run()
 
     process = new QProcess(this);
 
-    connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
 
 
-    UAS* uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        uas->startHil();
-    }
+    _vehicle->uas()->startHil();
 
     //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
     // Catch process error
@@ -139,7 +135,7 @@ void QGCJSBSimLink::run()
 
     /*Prepare JSBSim Arguments */
 
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
     {
         arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
     }
@@ -364,8 +360,8 @@ bool QGCJSBSimLink::disconnectSimulation()
 {
     disconnect(process, SIGNAL(error(QProcess::ProcessError)),
                this, SLOT(processError(QProcess::ProcessError)));
-    disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-    disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    disconnect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+    disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
 
     if (process)
     {

src/comm/QGCJSBSimLink.h

@@ -40,8 +40,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QProcess>
 #include <LinkInterface.h>
 #include "QGCConfig.h"
-#include "UASInterface.h"
 #include "QGCHilLink.h"
+#include "Vehicle.h"
 
 class QGCJSBSimLink : public QGCHilLink
 {
@@ -49,7 +49,7 @@ class QGCJSBSimLink : public QGCHilLink
     //Q_INTERFACES(QGCJSBSimLinkInterface:LinkInterface)
 
 public:
-    QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    QGCJSBSimLink(Vehicle* vehicle, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
     ~QGCJSBSimLink();
 
     bool isConnected();
@@ -127,7 +127,8 @@ public slots:
 
     void setStartupArguments(QString startupArguments);
 
-protected:
+private:
+    Vehicle*    _vehicle;
     QString name;
     QHostAddress host;
     QHostAddress currentHost;
@@ -147,7 +148,6 @@ protected:
     QMutex statisticsMutex;
     QMutex dataMutex;
     QTimer refreshTimer;
-    UASInterface* mav;
     QProcess* process;
     unsigned int flightGearVersion;
     QString startupArguments;
@@ -155,10 +155,6 @@ protected:
     bool _sensorHilEnabled;
 
     void setName(QString name);
-
-signals:
-
-
 };
 
 #endif // QGCJSBSimLink_H

src/comm/QGCXPlaneLink.cc

@@ -45,8 +45,8 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMessageBox.h"
 #include "HomePositionManager.h"
 
-QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) :
-    mav(mav),
+QGCXPlaneLink::QGCXPlaneLink(Vehicle* vehicle, QString remoteHost, QHostAddress localHost, quint16 localPort) :
+    _vehicle(vehicle),
     remoteHost(QHostAddress("127.0.0.1")),
     remotePort(49000),
     socket(NULL),
@@ -156,7 +156,7 @@ void QGCXPlaneLink::setVersion(unsigned int version)
  **/
 void QGCXPlaneLink::run()
 {
-    if (!mav) {
+    if (!_vehicle) {
         emit statusMessage("No MAV present");
         return;
     }
@@ -182,22 +182,15 @@ void QGCXPlaneLink::run()
 
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
-    UAS* uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        connect(uas, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)), Qt::QueuedConnection);
-        connect(uas, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
+    connect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)), Qt::QueuedConnection);
+    connect(_vehicle->uas(), SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
 
-        connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
-        connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
-        connect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), uas, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), Qt::QueuedConnection);
-        connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), uas, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), Qt::QueuedConnection);
+    connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
+    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
+    connect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), _vehicle->uas(), SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), Qt::QueuedConnection);
+    connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), Qt::QueuedConnection);
 
-        uas->startHil();
-    } else {
-        emit statusMessage(tr("Failed to connect to drone instance"));
-        return;
-    }
+        _vehicle->uas()->startHil();
 
 #pragma pack(push, 1)
     struct iset_struct
@@ -246,20 +239,13 @@ void QGCXPlaneLink::run()
         QGC::SLEEP::msleep(5);
     }
 
-    uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        disconnect(uas, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-        disconnect(uas, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
+    disconnect(_vehicle->uas(), SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+    disconnect(_vehicle->uas(), SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
 
-        disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), uas, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
-        disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), uas, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
-
-        // Do not toggle HIL state on the UAS - this is not the job of this link, but of the
-        // UAS object
-    }
+    disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), _vehicle->uas(), SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), _vehicle->uas(), SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
+    disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), _vehicle->uas(), SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
 
     connectState = false;
 
@@ -368,7 +354,7 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 
 void QGCXPlaneLink::updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
 {
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
     // Only update this for multirotors
     {
 
@@ -450,19 +436,7 @@ void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitch
 
     bool isFixedWing = true;
 
-    if (mav->getAirframe() == UASInterface::QGC_AIRFRAME_X8 ||
-            mav->getAirframe() == UASInterface::QGC_AIRFRAME_VIPER_2_0 ||
-            mav->getAirframe() == UASInterface::QGC_AIRFRAME_CAMFLYER_Q)
-    {
-        // de-mix delta-mixed inputs
-        // pitch input - mixed roll and pitch channels
-        p.f[0] = 0.5f * (rollAilerons - pitchElevator);
-        // roll input - mixed roll and pitch channels
-        p.f[1] = 0.5f * (rollAilerons + pitchElevator);
-        // yaw
-        p.f[2] = 0.0f;
-    }
-    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
     {
         qDebug() << "MAV_TYPE_QUADROTOR";
 
@@ -1021,17 +995,17 @@ void QGCXPlaneLink::setRandomPosition()
     double offLon = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
     double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;
 
-    if (mav->getAltitudeAMSL() + offAlt < 0)
+    if (_vehicle->altitudeAMSL() + offAlt < 0)
     {
         offAlt *= -1.0;
     }
 
-    setPositionAttitude(mav->getLatitude() + offLat,
-                        mav->getLongitude() + offLon,
-                        mav->getAltitudeAMSL() + offAlt,
-                        mav->getRoll(),
-                        mav->getPitch(),
-                        mav->getYaw());
+    setPositionAttitude(_vehicle->latitude() + offLat,
+                        _vehicle->longitude() + offLon,
+                        _vehicle->altitudeAMSL() + offAlt,
+                        _vehicle->roll(),
+                        _vehicle->pitch(),
+                        _vehicle->uas()->getYaw());
 }
 
 void QGCXPlaneLink::setRandomAttitude()
@@ -1043,9 +1017,9 @@ void QGCXPlaneLink::setRandomAttitude()
     double pitch = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
     double yaw = rand() / static_cast<double>(RAND_MAX) * 2.0 - 1.0;
 
-    setPositionAttitude(mav->getLatitude(),
-                        mav->getLongitude(),
-                        mav->getAltitudeAMSL(),
+    setPositionAttitude(_vehicle->latitude(),
+                        _vehicle->longitude(),
+                        _vehicle->altitudeAMSL(),
                         roll,
                         pitch,
                         yaw);

src/comm/QGCXPlaneLink.h

@@ -40,8 +40,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QProcess>
 #include <LinkInterface.h>
 #include "QGCConfig.h"
-#include "UASInterface.h"
 #include "QGCHilLink.h"
+#include "Vehicle.h"
 
 class QGCXPlaneLink : public QGCHilLink
 {
@@ -49,7 +49,7 @@ class QGCXPlaneLink : public QGCHilLink
     //Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface)
 
 public:
-    QGCXPlaneLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
+    QGCXPlaneLink(Vehicle* vehicle, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress localHost = QHostAddress::Any, quint16 localPort = 49005);
     ~QGCXPlaneLink();
 
     /**
@@ -164,7 +164,7 @@ public slots:
     void setRandomAttitude();
 
 protected:
-    UASInterface* mav;
+    Vehicle* _vehicle;
     QString name;
     QHostAddress localHost;
     quint16 localPort;

src/uas/UAS.cc

@@ -59,9 +59,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     receiveDropRate(0),
     sendDropRate(0),
 
-    name(""),
-    type(MAV_TYPE_GENERIC),
-    airframe(QGC_AIRFRAME_GENERIC),
     autopilot(vehicle->firmwareType()),
     base_mode(0),
     custom_mode(0),
@@ -91,13 +88,8 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     manualThrust(0),
 
     positionLock(false),
-    isLocalPositionKnown(false),
     isGlobalPositionKnown(false),
 
-    localX(0.0),
-    localY(0.0),
-    localZ(0.0),
-
     latitude(0.0),
     longitude(0.0),
     altitudeAMSL(0.0),
@@ -191,9 +183,7 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
 
     color = UASInterface::getNextColor();
     connect(&statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
-    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout.start(500);
-    readSettings();
 }
 
 /**
@@ -211,33 +201,6 @@ UAS::~UAS()
         simulation->deleteLater();
     }
 #endif
-    writeSettings();
-}
-
-/**
-* Saves the settings of name, airframe, autopilot type and battery specifications
-* for the next instantiation of UAS.
-*/
-void UAS::writeSettings()
-{
-    QSettings settings;
-    settings.beginGroup(QString("MAV%1").arg(uasId));
-    settings.setValue("NAME", this->name);
-    settings.setValue("AIRFRAME", this->airframe);
-    settings.endGroup();
-}
-
-/**
-* Reads in the settings: name, airframe, autopilot type, and battery specifications
-* for the new UAS.
-*/
-void UAS::readSettings()
-{
-    QSettings settings;
-    settings.beginGroup(QString("MAV%1").arg(uasId));
-    this->name = settings.value("NAME", this->name).toString();
-    this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
-    settings.endGroup();
 }
 
 /**
@@ -385,13 +348,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
             emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
 
-            // Set new type if it has changed
-            if (this->type != state.type)
-            {
-                this->autopilot = state.autopilot;
-                setSystemType(state.type);
-            }
-
             QString audiostring = QString("System %1").arg(uasId);
             QString stateAudio = "";
             QString modeAudio = "";
@@ -683,25 +639,16 @@ void UAS::receiveMessage(mavlink_message_t message)
             mavlink_msg_local_position_ned_decode(&message, &pos);
             quint64 time = getUnixTime(pos.time_boot_ms);
 
-            // Emit position always with component ID
-            emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
-
             if (!wrongComponent)
             {
-                setLocalX(pos.x);
-                setLocalY(pos.y);
-                setLocalZ(pos.z);
-
                 speedX = pos.vx;
                 speedY = pos.vy;
                 speedZ = pos.vz;
 
                 // Emit
-                emit localPositionChanged(this, localX, localY, localZ, time);
                 emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
                 positionLock = true;
-                isLocalPositionKnown = true;
             }
         }
             break;
@@ -710,7 +657,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             mavlink_global_vision_position_estimate_t pos;
             mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
             quint64 time = getUnixTime(pos.usec);
-            emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
             emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
         }
             break;
@@ -1076,11 +1022,7 @@ void UAS::setHomePosition(double lat, double lon, double alt)
     if (!_vehicle || blockHomePositionChanges)
         return;
 
-    QString uasName = (getUASName() == "")?
-                tr("UAS") + QString::number(getUASID())
-              : getUASName();
-
-    QMessageBox::StandardButton button = QGCMessageBox::question(tr("Set a new home position for vehicle %1").arg(uasName),
+    QMessageBox::StandardButton button = QGCMessageBox::question(tr("Set a new home position for vehicle %1").arg(getUASID()),
                                                                  tr("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location"),
                                                                  QMessageBox::Yes | QMessageBox::Cancel,
                                                                  QMessageBox::Cancel);
@@ -1533,32 +1475,6 @@ quint64 UAS::getUptime() const
     }
 }
 
-bool UAS::isRotaryWing()
-{
-    switch (type) {
-        case MAV_TYPE_QUADROTOR:
-        /* fallthrough */
-        case MAV_TYPE_COAXIAL:
-        case MAV_TYPE_HELICOPTER:
-        case MAV_TYPE_HEXAROTOR:
-        case MAV_TYPE_OCTOROTOR:
-        case MAV_TYPE_TRICOPTER:
-            return true;
-        default:
-            return false;
-    }
-}
-
-bool UAS::isFixedWing()
-{
-    switch (type) {
-        case MAV_TYPE_FIXED_WING:
-            return true;
-        default:
-            return false;
-    }
-}
-
 //TODO update this to use the parameter manager / param data model instead
 void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramUnion)
 {
@@ -1602,40 +1518,6 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
     emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
 }
 
-/**
-* @param systemType Type of MAV.
-*/
-void UAS::setSystemType(int systemType)
-{
-    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
-    {
-      type = systemType;
-
-      // If the airframe is still generic, change it to a close default type
-      if (airframe == 0)
-      {
-          switch (type)
-          {
-          case MAV_TYPE_FIXED_WING:
-              setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
-              break;
-          case MAV_TYPE_QUADROTOR:
-              setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
-              break;
-          case MAV_TYPE_HEXAROTOR:
-              setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
-              break;
-          default:
-              // Do nothing
-              break;
-          }
-      }
-      emit systemSpecsChanged(uasId);
-      emit systemTypeSet(this, type);
-      qDebug() << "TYPE CHANGED TO:" << type;
-   }
-}
-
 void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
 {
     if (!_vehicle) {
@@ -1888,29 +1770,6 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
 #endif
 
 /**
-* @return the type of the system
-*/
-int UAS::getSystemType()
-{
-    return this->type;
-}
-
-/** @brief Is it an airplane (or like one)?,..)*/
-bool UAS::isAirplane()
-{
-    switch(this->type) {
-        case MAV_TYPE_GENERIC:
-        case MAV_TYPE_FIXED_WING:
-        case MAV_TYPE_AIRSHIP:
-        case MAV_TYPE_FLAPPING_WING:
-            return true;
-        default:
-            break;
-    }
-    return false;
-}
-
-/**
 * Order the robot to start receiver pairing
 */
 void UAS::pairRX(int rxType, int rxSubType)
@@ -1940,7 +1799,7 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
             stopHil();
             delete simulation;
         }
-        simulation = new QGCFlightGearLink(this, options);
+        simulation = new QGCFlightGearLink(_vehicle, options);
     }
 
     float noise_scaler = 0.002f;
@@ -1988,7 +1847,7 @@ void UAS::enableHilJSBSim(bool enable, QString options)
             stopHil();
             delete simulation;
         }
-        simulation = new QGCJSBSimLink(this, options);
+        simulation = new QGCJSBSimLink(_vehicle, options);
     }
     // Connect Flight Gear Link
     link = dynamic_cast<QGCJSBSimLink*>(simulation);
@@ -2016,7 +1875,7 @@ void UAS::enableHilXPlane(bool enable)
             stopHil();
             delete simulation;
         }
-        simulation = new QGCXPlaneLink(this);
+        simulation = new QGCXPlaneLink(_vehicle);
 
         float noise_scaler = 0.0002f;
         xacc_var = noise_scaler * 0.2914f;
@@ -2342,23 +2201,6 @@ void UAS::stopHil()
 #endif
 
 /**
- * @return The name of this system as string in human-readable form
- */
-QString UAS::getUASName(void) const
-{
-    QString result;
-    if (name == "")
-    {
-        result = tr("MAV ") + result.sprintf("%03d", getUASID());
-    }
-    else
-    {
-        result = name;
-    }
-    return result;
-}
-
-/**
 * @rerturn the map of the components
 */
 QMap<int, QString> UAS::getComponents()

src/uas/UAS.h

@@ -71,15 +71,8 @@ public:
 
     /* MANAGEMENT */
 
-    /** @brief The name of the robot */
-    QString getUASName(void) const;
     /** @brief Get the unique system id */
     int getUASID() const;
-    /** @brief Get the airframe */
-    int getAirframe() const
-    {
-        return airframe;
-    }
     /** @brief Get the components */
     QMap<int, QString> getComponents();
 
@@ -88,13 +81,9 @@ public:
     /** @brief Add one measurement and get low-passed voltage */
     float filterVoltage(float value);
 
-    Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
-    Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
-    Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
     Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
     Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
     Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
-    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
     Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
     Q_PROPERTY(double roll READ getRoll WRITE setRoll NOTIFY rollChanged)
     Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
@@ -248,11 +237,6 @@ public:
         return satelliteCount;
     }
 
-    virtual bool localPositionKnown() const
-    {
-        return isLocalPositionKnown;
-    }
-
     virtual bool globalPositionKnown() const
     {
         return isGlobalPositionKnown;
@@ -369,9 +353,6 @@ public:
         temperature_var = var;
     }
 
-    bool isRotaryWing();
-    bool isFixedWing();
-
     friend class FileManager;
 
 protected: //COMMENTS FOR TEST UNIT
@@ -387,9 +368,6 @@ protected: //COMMENTS FOR TEST UNIT
     QTimer statusTimeout;       ///< Timer for various status timeouts
 
     /// BASIC UAS TYPE, NAME AND STATE
-    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
-    unsigned char type;           ///< UAS type (from type enum)
-    int airframe;                 ///< The airframe type
     int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
     uint8_t base_mode;                 ///< The current mode of the MAV
     uint32_t custom_mode;         ///< The current mode of the MAV
@@ -427,7 +405,6 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// POSITION
     bool positionLock;          ///< Status if position information is available or not
-    bool isLocalPositionKnown;  ///< If the local position has been received for this MAV
     bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
 
     double localX;
@@ -520,9 +497,6 @@ public:
     }
 #endif
 
-    int  getSystemType();
-    bool isAirplane();
-
     QImage getImage();
     void requestImage();
     int getAutopilotType(){
@@ -536,18 +510,6 @@ public slots:
         autopilot = apType;
         emit systemSpecsChanged(uasId);
     }
-    /** @brief Set the type of airframe */
-    void setSystemType(int systemType);
-    /** @brief Set the specific airframe type */
-    void setAirframe(int airframe)
-    {
-        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
-        {
-          this->airframe = airframe;
-          emit systemSpecsChanged(uasId);
-        }
-
-    }
     /** @brief Executes a command with 7 params */
     void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
 
@@ -686,12 +648,6 @@ protected:
     quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
     quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
 
-protected slots:
-    /** @brief Write settings to disk */
-    void writeSettings();
-    /** @brief Read settings from disk */
-    void readSettings();
-    
 private:
     void _say(const QString& text, int severity = 6);
     

src/uas/UASInterface.h

@@ -67,17 +67,10 @@ public:
 
     /* MANAGEMENT */
 
-    /** @brief The name of the robot **/
-    virtual QString getUASName() const = 0;
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-    virtual double getLocalX() const = 0;
-    virtual double getLocalY() const = 0;
-    virtual double getLocalZ() const = 0;
-    virtual bool localPositionKnown() const = 0;
-
     virtual double getLatitude() const = 0;
     virtual double getLongitude() const = 0;
     virtual double getAltitudeAMSL() const = 0;
@@ -88,30 +81,8 @@ public:
     virtual double getPitch() const = 0;
     virtual double getYaw() const = 0;
 
-    /** @brief Set the airframe of this MAV */
-    virtual int getAirframe() const = 0;
-
     virtual FileManager* getFileManager() = 0;
 
-    enum Airframe {
-        QGC_AIRFRAME_GENERIC = 0,
-        QGC_AIRFRAME_EASYSTAR,
-        QGC_AIRFRAME_TWINSTAR,
-        QGC_AIRFRAME_MERLIN,
-        QGC_AIRFRAME_CHEETAH,
-        QGC_AIRFRAME_MIKROKOPTER,
-        QGC_AIRFRAME_REAPER,
-        QGC_AIRFRAME_PREDATOR,
-        QGC_AIRFRAME_COAXIAL,
-        QGC_AIRFRAME_PTERYX,
-        QGC_AIRFRAME_TRICOPTER,
-        QGC_AIRFRAME_HEXCOPTER,
-        QGC_AIRFRAME_X8,
-        QGC_AIRFRAME_VIPER_2_0,
-        QGC_AIRFRAME_CAMFLYER_Q,
-        QGC_AIRFRAME_END_OF_ENUM
-    };
-
     /**
      * @brief Get the color for this UAS
      *
@@ -151,11 +122,6 @@ public:
         return colors[nextColor];//return the next color
    }
 
-    /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
-    virtual int getSystemType() = 0;
-    /** @brief Is it an airplane (or like one)?,..)*/
-    virtual bool isAirplane() = 0;
-
     /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
     virtual int getAutopilotType() = 0;
     virtual void setAutopilotType(int apType) = 0;
@@ -204,19 +170,11 @@ public slots:
     /** @brief Executes a command **/
     virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) = 0;
 
-    /** @brief Selects the airframe */
-    virtual void setAirframe(int airframe) = 0;
-
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;
     
     virtual void setHomePosition(double lat, double lon, double alt) = 0;
 
-    /** @brief Return if this a rotary wing */
-    virtual bool isRotaryWing() = 0;
-    /** @brief Return if this is a fixed wing */
-    virtual bool isFixedWing() = 0;
-
     /** @brief Send the full HIL state to the MAV */
 #ifndef __mobile__
     virtual void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
@@ -322,8 +280,6 @@ signals:
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
     /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */
     void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
-    void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
-    void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
     void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
     void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64 usec);
     /** @brief Update the status of one satellite used for localization */
@@ -339,8 +295,6 @@ signals:
 
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
-    /** @brief Emit the new system type */
-    void systemTypeSet(UASInterface* uas, unsigned int type);
 
     /** @brief Attitude control enabled/disabled */
     void attitudeControlEnabled(bool enabled);

src/ui/QGCHilConfiguration.cc

@@ -29,6 +29,7 @@
 #include "QGCHilFlightGearConfiguration.h"
 #include "QGCHilJSBSimConfiguration.h"
 #include "QGCHilXPlaneConfiguration.h"
+#include "UAS.h"
 
 QGCHilConfiguration::QGCHilConfiguration(Vehicle* vehicle, QWidget *parent)
     : QWidget(parent)
@@ -87,7 +88,7 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     {
         // Ensure the sim exists and is disabled
         _vehicle->uas()->enableHilFlightGear(false, "", true, this);
-        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(_vehicle->uas(), this);
+        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(_vehicle, this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
         QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(_vehicle->uas()->getHILSimulation());
@@ -117,7 +118,7 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     {
         // Ensure the sim exists and is disabled
         _vehicle->uas()->enableHilJSBSim(false, "");
-        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(_vehicle->uas(), this);
+        QGCHilJSBSimConfiguration* hfgconf = new QGCHilJSBSimConfiguration(_vehicle, this);
         hfgconf->show();
         ui->simulatorConfigurationLayout->addWidget(hfgconf);
         QGCJSBSimLink* jsb = dynamic_cast<QGCJSBSimLink*>(_vehicle->uas()->getHILSimulation());

src/ui/QGCHilFlightGearConfiguration.cc

@@ -1,5 +1,6 @@
 #include "QGCHilFlightGearConfiguration.h"
 #include "MainWindow.h"
+#include "UAS.h"
 
 #include <QMenu>
 
@@ -16,19 +17,17 @@ const char* QGCHilFlightGearConfiguration::_sensorHilKey =                  "SEN
 // the QGCFlightGearLink code instead.
 const char* QGCHilFlightGearConfiguration::_defaultOptions = "--roll=0 --pitch=0 --vc=0 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --disable-sound --disable-random-objects --disable-ai-traffic --shading-flat --fog-disable --disable-specular-highlight --disable-panel --disable-clouds --fdm=jsb --units-meters --enable-terrasync";
 
-QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav, QWidget *parent) :
-    QWidget(parent),
-    _mav(mav),
-    _mavSettingsSubGroup(NULL),
-    _resetOptionsAction(tr("Reset to default options"), this)
+QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(Vehicle* vehicle, QWidget *parent)
+    : QWidget(parent)
+    , _vehicle(vehicle)
+    , _mavSettingsSubGroup(NULL)
+    , _resetOptionsAction(tr("Reset to default options"), this)
 
 {
-    Q_ASSERT(_mav);
-    
     _ui.setupUi(this);
     
     QStringList items;
-    if (_mav->getSystemType() == MAV_TYPE_FIXED_WING)
+    if (_vehicle->vehicleType() == MAV_TYPE_FIXED_WING)
     {
         items << "EasyStar";
         items << "Rascal110-JSBSim";
@@ -37,7 +36,7 @@ QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav, QWidget *
         items << "Malolo1";
         _mavSettingsSubGroup = _mavSettingsSubGroupFixedWing;
     }
-    else if (_mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    else if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
     {
         items << "arducopter";
         _mavSettingsSubGroup = _mavSettingsSubGroupQuadRotor;
@@ -118,12 +117,12 @@ void QGCHilFlightGearConfiguration::on_startButton_clicked()
     //XXX check validity of inputs
     QString options = _ui.optionsPlainTextEdit->toPlainText();
     options.append(" --aircraft=" + _ui.aircraftComboBox->currentText());
-    _mav->enableHilFlightGear(true, options, _ui.sensorHilCheckBox->isChecked(), this);
+    _vehicle->uas()->enableHilFlightGear(true, options, _ui.sensorHilCheckBox->isChecked(), this);
 }
 
 void QGCHilFlightGearConfiguration::on_stopButton_clicked()
 {
-    _mav->stopHil();
+    _vehicle->uas()->stopHil();
 }
 
 void QGCHilFlightGearConfiguration::on_barometerOffsetLineEdit_textChanged(const QString& baroOffset)

src/ui/QGCHilFlightGearConfiguration.h

@@ -5,7 +5,7 @@
 
 #include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
-#include "UAS.h"
+#include "Vehicle.h"
 
 #include "ui_QGCHilFlightGearConfiguration.h"
 
@@ -18,7 +18,7 @@ class QGCHilFlightGearConfiguration : public QWidget
     Q_OBJECT
     
 public:
-    explicit QGCHilFlightGearConfiguration(UAS* mav, QWidget *parent = 0);
+    explicit QGCHilFlightGearConfiguration(Vehicle* vehicle, QWidget *parent = 0);
     ~QGCHilFlightGearConfiguration();
 
 protected:
@@ -31,8 +31,8 @@ private slots:
     void _showContextMenu(const QPoint& pt);
 
 private:
+    Vehicle*    _vehicle;
     Ui::QGCHilFlightGearConfiguration _ui;
-    UAS* _mav;                                          /// mav associated with this ui
 
     static const char*  _settingsGroup;                 /// Top level settings group
     const char*         _mavSettingsSubGroup;           /// We maintain a settings sub group per mav type

src/ui/QGCHilJSBSimConfiguration.cc

@@ -2,16 +2,17 @@
 #include "ui_QGCHilJSBSimConfiguration.h"
 
 #include "MainWindow.h"
+#include "UAS.h"
 
-QGCHilJSBSimConfiguration::QGCHilJSBSimConfiguration(UAS* mav,QWidget *parent) :
-    QWidget(parent),
-    mav(mav),
-    ui(new Ui::QGCHilJSBSimConfiguration)
+QGCHilJSBSimConfiguration::QGCHilJSBSimConfiguration(Vehicle* vehicle, QWidget *parent)
+    : QWidget(parent)
+    , _vehicle(vehicle)
+    , ui(new Ui::QGCHilJSBSimConfiguration)
 {
     ui->setupUi(this);
 
     QStringList items = QStringList();
-    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+    if (_vehicle->vehicleType() == MAV_TYPE_FIXED_WING)
     {
         items << "EasyStar";
         items << "Rascal110-JSBSim";
@@ -19,7 +20,7 @@ QGCHilJSBSimConfiguration::QGCHilJSBSimConfiguration(UAS* mav,QWidget *parent) :
         items << "YardStik";
         items << "Malolo1";
     }
-    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    else if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
     {
         items << "arducopter";
     }
@@ -40,10 +41,10 @@ void QGCHilJSBSimConfiguration::on_startButton_clicked()
     //XXX check validity of inputs
     QString options = ui->optionsPlainTextEdit->toPlainText();
     options.append(" --script=" + ui->aircraftComboBox->currentText());
-    mav->enableHilJSBSim(true,  options);
+    _vehicle->uas()->enableHilJSBSim(true,  options);
 }
 
 void QGCHilJSBSimConfiguration::on_stopButton_clicked()
 {
-    mav->stopHil();
+    _vehicle->uas()->stopHil();
 }

src/ui/QGCHilJSBSimConfiguration.h

@@ -5,7 +5,7 @@
 
 #include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
-#include "UAS.h"
+#include "Vehicle.h"
 
 namespace Ui {
 class QGCHilJSBSimConfiguration;
@@ -16,17 +16,16 @@ class QGCHilJSBSimConfiguration : public QWidget
     Q_OBJECT
     
 public:
-    explicit QGCHilJSBSimConfiguration(UAS* mav, QWidget *parent = 0);
+    explicit QGCHilJSBSimConfiguration(Vehicle* vehicle, QWidget *parent = 0);
     ~QGCHilJSBSimConfiguration();
 
-protected:
-    UAS* mav;
-    
 private slots:
     void on_startButton_clicked();
     void on_stopButton_clicked();
 
 private:
+    Vehicle*    _vehicle;
+
     Ui::QGCHilJSBSimConfiguration *ui;
 };
 

src/ui/QGCMAVLinkInspector.cc

@@ -65,7 +65,7 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action,
 
 void QGCMAVLinkInspector::_vehicleAdded(Vehicle* vehicle)
 {
-    ui->systemComboBox->addItem(vehicle->uas()->getUASName(), vehicle->id());
+    ui->systemComboBox->addItem(QString("Vehicle %1").arg(vehicle->id()), vehicle->id());
 
     // Add a tree for a new UAS
     addUAStoTree(vehicle->id());
@@ -340,14 +340,7 @@ void QGCMAVLinkInspector::addUAStoTree(int sysId)
         {
             UASInterface* uas = vehicle->uas();
             QStringList idstring;
-            if (uas->getUASName() == "")
-            {
-                idstring << tr("UAS ") + QString::number(uas->getUASID());
-            }
-            else
-            {
-                idstring << uas->getUASName();
-            }
+            idstring << QString("Vehicle %1").arg(uas->getUASID());
             QTreeWidgetItem* uasWidget = new QTreeWidgetItem(idstring);
             uasWidget->setFirstColumnSpanned(true);
             uasTreeWidgetItems.insert(sysId,uasWidget);