ardupilot-methodic-configurator 2.6.1__py3-none-any.whl → 2.7.1__py3-none-any.whl

ardupilot_methodic_configurator/configuration_manager.py

@@ -5,7 +5,7 @@ Contains state information but no GUI code.
 Aggregates flight controller and filesystem access in a single interface.
 Uses exceptions for error handling, the GUI layer will catch and display them.
 
-This file is part of Ardupilot methodic configurator. https://github.com/ArduPilot/MethodicConfigurator
+This file is part of ArduPilot Methodic Configurator. https://github.com/ArduPilot/MethodicConfigurator
 
 SPDX-FileCopyrightText: 2024-2025 Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
 
@@ -16,10 +16,13 @@ from csv import writer as csv_writer
 from logging import error as logging_error
 from logging import info as logging_info
 from pathlib import Path
-from typing import Callable, Optional
+from time import time
+from typing import Callable, Literal, Optional
+from webbrowser import open as webbrowser_open  # to open the web documentation
 
 from ardupilot_methodic_configurator import _
 from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
+from ardupilot_methodic_configurator.backend_filesystem_configuration_steps import PhaseData
 from ardupilot_methodic_configurator.backend_flightcontroller import FlightController
 from ardupilot_methodic_configurator.backend_internet import download_file_from_url
 from ardupilot_methodic_configurator.data_model_ardupilot_parameter import ArduPilotParameter
@@ -33,6 +36,9 @@ SelectFileCallback = Callable[[str, list[str]], Optional[str]]  # (title, filety
 ShowWarningCallback = Callable[[str, str], None]  # (title, message) -> None
 ShowErrorCallback = Callable[[str, str], None]  # (title, message) -> None
 ShowInfoCallback = Callable[[str, str], None]  # (title, message) -> None
+AskRetryCancelCallback = Callable[[str, str], bool]  # (title, message) -> bool
+ExperimentChoice = Literal["close", True, False]
+ExperimentChoiceCallback = Callable[[str, str, list[str]], ExperimentChoice]
 
 
 class OperationNotPossibleError(Exception):
@@ -46,57 +52,64 @@ class InvalidParameterNameError(Exception):
 # pylint: disable=too-many-lines
 
 
-class ConfigurationManager:  # pylint: disable=too-many-public-methods
+class ConfigurationManager:  # pylint: disable=too-many-public-methods, too-many-instance-attributes
     """
     Manages configuration state, including flight controller and filesystem access.
 
     This class aggregates the flight controller and filesystem access to provide a unified interface
-    for managing configuration state. It holds references to the flight controller and filesystem,
+    for managing configuration state. It holds protected references to the flight controller and filesystem,
     and provides methods to interact with them.
     """
 
     def __init__(self, current_file: str, flight_controller: FlightController, filesystem: LocalFilesystem) -> None:
         self.current_file = current_file
-        self.flight_controller = flight_controller
-        self.filesystem = filesystem
-        self.config_step_processor = ConfigurationStepProcessor(self.filesystem)
+        self._flight_controller = flight_controller
+        self._local_filesystem = filesystem
+        self._config_step_processor = ConfigurationStepProcessor(self._local_filesystem)
 
-        # self.parameters is rebuilt on every repopulate(...) call and only contains the ArduPilotParameter
+        # self.current_step_parameters is rebuilt on every repopulate(...) call and only contains the ArduPilotParameter
         # objects needed for the current table view.
-        self.parameters: dict[str, ArduPilotParameter] = {}
+        self.current_step_parameters: dict[str, ArduPilotParameter] = {}
 
+        # Track parameters added by user (not in original file) or renamed by the system in the current configuration step
+        self._added_parameters: set[str] = set()
+
+        # Track parameters deleted by user (were in original file) or renamed by the system in the current configuration step
+        self._deleted_parameters: set[str] = set()
+
+        self._at_least_one_changed = False
+
+        self._last_time_asked_to_save: float = 0
+
+    # frontend_tkinter_parameter_editor_table.py API start
     @property
     def connected_vehicle_type(self) -> str:
         return (
-            getattr(self.flight_controller.info, "vehicle_type", "")
-            if hasattr(self.flight_controller, "info") and self.flight_controller.info is not None
+            getattr(self._flight_controller.info, "vehicle_type", "")
+            if hasattr(self._flight_controller, "info") and self._flight_controller.info is not None
             else ""
         )
 
     @property
     def is_fc_connected(self) -> bool:
-        return self.flight_controller.master is not None
+        return self._flight_controller.master is not None
 
     @property
     def fc_parameters(self) -> dict[str, float]:
         return (
-            self.flight_controller.fc_parameters
-            if hasattr(self.flight_controller, "fc_parameters") and self.flight_controller.fc_parameters is not None
+            self._flight_controller.fc_parameters
+            if hasattr(self._flight_controller, "fc_parameters") and self._flight_controller.fc_parameters is not None
             else {}
         )
 
     @property
     def is_mavftp_supported(self) -> bool:
         return (
-            getattr(self.flight_controller.info, "is_mavftp_supported", False)
-            if hasattr(self.flight_controller, "info") and self.flight_controller.info is not None
+            getattr(self._flight_controller.info, "is_mavftp_supported", False)
+            if hasattr(self._flight_controller, "info") and self._flight_controller.info is not None
             else False
         )
 
-    @property
-    def current_file_parameters(self) -> ParDict:
-        return self.filesystem.file_parameters.get(self.current_file, ParDict())
-
     def handle_imu_temperature_calibration_workflow(  # pylint: disable=too-many-arguments, too-many-positional-arguments
         self,
         selected_file: str,
@@ -126,7 +139,9 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         """
         # Check if IMU temperature calibration should be offered for this file
-        tempcal_imu_result_param_filename, tempcal_imu_result_param_fullpath = self.filesystem.tempcal_imu_result_param_tuple()
+        tempcal_imu_result_param_filename, tempcal_imu_result_param_fullpath = (
+            self._local_filesystem.tempcal_imu_result_param_tuple()
+        )
         if selected_file != tempcal_imu_result_param_filename:
             return False
 
@@ -161,19 +176,19 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             log_parm=False,
             online=False,
             tclr=False,
-            figpath=self.filesystem.vehicle_dir,
+            figpath=self._local_filesystem.vehicle_dir,
             progress_callback=progress_callback,
         )
 
         try:
             # Reload parameter files after calibration
-            self.filesystem.file_parameters = self.filesystem.read_params_from_files()
+            self._local_filesystem.file_parameters = self._local_filesystem.read_params_from_files()
             return True
         except SystemExit as exp:
             show_error(_("Fatal error reading parameter files"), f"{exp}")
             raise
 
-    def should_copy_fc_values_to_file(self, selected_file: str) -> tuple[bool, Optional[dict], Optional[str]]:
+    def _should_copy_fc_values_to_file(self, selected_file: str) -> tuple[bool, Optional[dict], Optional[str]]:
         """
         Check if flight controller values should be copied to the specified file.
 
@@ -186,18 +201,18 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
                    auto_changed_by contains the tool name that requires external changes.
 
         """
-        auto_changed_by = self.filesystem.auto_changed_by(selected_file)
-        if auto_changed_by and self.flight_controller.fc_parameters:
+        auto_changed_by = self._local_filesystem.auto_changed_by(selected_file)
+        if auto_changed_by and self._flight_controller.fc_parameters:
             # Filter relevant FC parameters for this file
             relevant_fc_params = {
                 key: value
-                for key, value in self.flight_controller.fc_parameters.items()
-                if key in self.filesystem.file_parameters[selected_file]
+                for key, value in self._flight_controller.fc_parameters.items()
+                if key in self.current_step_parameters
             }
             return True, relevant_fc_params, auto_changed_by
         return False, None, auto_changed_by
 
-    def copy_fc_values_to_file(self, selected_file: str, relevant_fc_params: dict) -> bool:
+    def _copy_fc_values_to_file(self, selected_file: str, relevant_fc_params: dict) -> bool:
         """
         Copy FC values to the specified file.
 
@@ -209,10 +224,78 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             bool: True if parameters were copied successfully.
 
         """
-        params_copied = self.filesystem.copy_fc_values_to_file(selected_file, relevant_fc_params)
+        params_copied = self._local_filesystem.copy_fc_values_to_file(selected_file, relevant_fc_params)
         return bool(params_copied)
 
-    def get_file_jump_options(self, selected_file: str) -> dict[str, str]:
+    def handle_copy_fc_values_workflow(
+        self,
+        selected_file: str,
+        ask_user_choice: ExperimentChoiceCallback,
+        show_info: ShowInfoCallback,
+    ) -> ExperimentChoice:
+        """
+        Handle the complete workflow for copying FC values to file with user interaction.
+
+        Args:
+            selected_file: The configuration file to potentially update.
+            ask_user_choice: Callback to ask user for choice (Yes/No/Close).
+            show_info: Callback to show information messages.
+
+        Returns:
+            ExperimentChoice: "close" if user chose to close, True if copied, False if no copy.
+
+        """
+        should_copy, relevant_fc_params, auto_changed_by = self._should_copy_fc_values_to_file(selected_file)
+        if should_copy and relevant_fc_params and auto_changed_by:
+            msg = _(
+                "This configuration step requires external changes by: {auto_changed_by}\n\n"
+                "The external tool experiment procedure is described in the tuning guide.\n\n"
+                "Choose an option:\n"
+                "* CLOSE - Close the application and go perform the experiment\n"
+                "* YES - Copy current FC values to {selected_file} (if you've already completed the experiment)\n"
+                "* NO - Continue without copying values (if you haven't performed the experiment yet,"
+                " but know what you are doing)"
+            ).format(auto_changed_by=auto_changed_by, selected_file=selected_file)
+
+            user_choice = ask_user_choice(_("Update file with values from FC?"), msg, [_("Close"), _("Yes"), _("No")])
+
+            if user_choice is True:  # Yes option
+                params_copied = self._copy_fc_values_to_file(selected_file, relevant_fc_params)
+                if params_copied:
+                    show_info(
+                        _("Parameters copied"),
+                        _("FC values have been copied to {selected_file}").format(selected_file=selected_file),
+                    )
+            return user_choice
+        return False
+
+    def handle_file_jump_workflow(
+        self,
+        selected_file: str,
+        gui_complexity: str,
+        ask_user_confirmation: AskConfirmationCallback,
+    ) -> str:
+        """
+        Handle the complete workflow for file jumping with user interaction.
+
+        Args:
+            selected_file: The current configuration file.
+            gui_complexity: The GUI complexity setting ("simple" or other).
+            ask_user_confirmation: Callback to ask user for confirmation.
+
+        Returns:
+            str: The destination file to jump to, or the original file if no jump.
+
+        """
+        jump_options = self._get_file_jump_options(selected_file)
+        for dest_file, msg in jump_options.items():
+            if gui_complexity == "simple" or ask_user_confirmation(
+                _("Skip some steps?"), _(msg) if msg else _("Skip to {dest_file}?").format(dest_file=dest_file)
+            ):
+                return dest_file
+        return selected_file
+
+    def _get_file_jump_options(self, selected_file: str) -> dict[str, str]:
         """
         Get available file jump options for the selected file.
 
@@ -223,13 +306,45 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             dict: Dictionary mapping destination files to their messages.
 
         """
-        return self.filesystem.jump_possible(selected_file)
+        return self._local_filesystem.jump_possible(selected_file)
+
+    def handle_write_changes_workflow(
+        self,
+        annotate_params_into_files: bool,
+        ask_user_confirmation: AskConfirmationCallback,
+    ) -> bool:
+        """
+        Handle the workflow for writing changes to intermediate parameter file.
+
+        Args:
+            at_least_one_param_edited: Whether any parameters have been edited.
+            annotate_params_into_files: Whether to annotate documentation into files.
+            ask_user_confirmation: Callback to ask user for confirmation.
+
+        Returns:
+            bool: True if changes were written, False otherwise.
+
+        """
+        elapsed_since_last_ask = time() - self._last_time_asked_to_save
+        # if annotate parameters into files is true, we always need to write to file, because
+        # the parameter metadata might have changed, or not be present in the file.
+        # In that situation, avoid asking multiple times to write the file, by checking the time last asked
+        # But only if annotate_params_into_files is True
+        if self._has_unsaved_changes() or (annotate_params_into_files and elapsed_since_last_ask > 1.0):
+            msg = _("Do you want to write the changes to the {current_filename} file?").format(
+                current_filename=self.current_file
+            )
+            if ask_user_confirmation(_("One or more parameters have been edited"), msg):
+                self._export_current_file(annotate_doc=annotate_params_into_files)
+                self._last_time_asked_to_save = time()
+                return True
+        return False
 
     def should_download_file_from_url_workflow(
         self,
         selected_file: str,
-        ask_confirmation: Callable[[str, str], bool],
-        show_error: Callable[[str, str], None],
+        ask_confirmation: AskConfirmationCallback,
+        show_error: ShowErrorCallback,
     ) -> bool:
         """
         Handle file download workflow with injected GUI callbacks.
@@ -246,11 +361,11 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             bool: True if download was successful or not needed, False if download failed.
 
         """
-        url, local_filename = self.filesystem.get_download_url_and_local_filename(selected_file)
+        url, local_filename = self._local_filesystem.get_download_url_and_local_filename(selected_file)
         if not url or not local_filename:
             return True  # No download required
 
-        if self.filesystem.vehicle_configuration_file_exists(local_filename):
+        if self._local_filesystem.vehicle_configuration_file_exists(local_filename):
             return True  # File already exists in the vehicle directory, no need to download it
 
         # Ask user for confirmation
@@ -291,16 +406,16 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             bool: True if upload was successful or not needed, False if upload failed.
 
         """
-        local_filename, remote_filename = self.filesystem.get_upload_local_and_remote_filenames(selected_file)
+        local_filename, remote_filename = self._local_filesystem.get_upload_local_and_remote_filenames(selected_file)
         if not local_filename or not remote_filename:
             return True  # No upload required
 
-        if not self.filesystem.vehicle_configuration_file_exists(local_filename):
+        if not self._local_filesystem.vehicle_configuration_file_exists(local_filename):
             error_msg = _("Local file {local_filename} does not exist")
             show_error(_("Will not upload any file"), error_msg.format(local_filename=local_filename))
             return False
 
-        if self.flight_controller.master is None:
+        if self._flight_controller.master is None:
             show_warning(_("Will not upload any file"), _("No flight controller connection"))
             return False
 
@@ -312,7 +427,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             return True  # User declined upload
 
         # Attempt upload
-        if not self.flight_controller.upload_file(local_filename, remote_filename, progress_callback):
+        if not self._flight_controller.upload_file(local_filename, remote_filename, progress_callback):
             error_msg = _("Failed to upload {local_filename} to {remote_filename}, please upload it manually")
             show_error(_("Upload failed"), error_msg.format(local_filename=local_filename, remote_filename=remote_filename))
             return False
@@ -331,18 +446,18 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         """
         # Download all parameters from the flight controller
-        fc_parameters, param_default_values = self.flight_controller.download_params(
+        fc_parameters, param_default_values = self._flight_controller.download_params(
             progress_callback,
-            Path(self.filesystem.vehicle_dir) / "complete.param",
-            Path(self.filesystem.vehicle_dir) / "00_default.param",
+            Path(self._local_filesystem.vehicle_dir) / "complete.param",
+            Path(self._local_filesystem.vehicle_dir) / "00_default.param",
         )
 
         # Update the flight controller parameters
-        self.flight_controller.fc_parameters = fc_parameters
+        self._flight_controller.fc_parameters = fc_parameters
 
         # Write default values to file if available
         if param_default_values:
-            self.filesystem.write_param_default_values_to_file(param_default_values)
+            self._local_filesystem.write_param_default_values_to_file(param_default_values)
 
         return fc_parameters, param_default_values
 
@@ -373,17 +488,17 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
         # Write each selected parameter to the flight controller
         for param_name, param in selected_params.items():
             try:
-                if param_name not in self.flight_controller.fc_parameters or not is_within_tolerance(
-                    self.flight_controller.fc_parameters[param_name], param.value
+                if param_name not in self._flight_controller.fc_parameters or not is_within_tolerance(
+                    self._flight_controller.fc_parameters[param_name], param.value
                 ):
-                    param_metadata = self.filesystem.doc_dict.get(param_name, None)
+                    param_metadata = self._local_filesystem.doc_dict.get(param_name, None)
                     if param_metadata and param_metadata.get("RebootRequired", False):
-                        self.flight_controller.set_param(param_name, float(param.value))
-                        if param_name in self.flight_controller.fc_parameters:
+                        self._flight_controller.set_param(param_name, float(param.value))
+                        if param_name in self._flight_controller.fc_parameters:
                             logging_info(
                                 _("Parameter %s changed from %f to %f, reset required"),
                                 param_name,
-                                self.flight_controller.fc_parameters[param_name],
+                                self._flight_controller.fc_parameters[param_name],
                                 param.value,
                             )
                         else:
@@ -391,12 +506,12 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
                         reset_required = True
                     # Check if any of the selected parameters have a _TYPE, _EN, or _ENABLE suffix
                     elif param_name.endswith(("_TYPE", "_EN", "_ENABLE", "SID_AXIS")):
-                        self.flight_controller.set_param(param_name, float(param.value))
-                        if param_name in self.flight_controller.fc_parameters:
+                        self._flight_controller.set_param(param_name, float(param.value))
+                        if param_name in self._flight_controller.fc_parameters:
                             logging_info(
                                 _("Parameter %s changed from %f to %f, possible reset required"),
                                 param_name,
-                                self.flight_controller.fc_parameters[param_name],
+                                self._flight_controller.fc_parameters[param_name],
                                 param.value,
                             )
                         else:
@@ -423,10 +538,13 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             int: Extra sleep time in seconds.
 
         """
-        current_file_params: ParDict = self.filesystem.file_parameters.get(self.current_file, ParDict())
-        filesystem_boot_delay = current_file_params.get("BRD_BOOT_DELAY", Par(0.0))
-        flightcontroller_boot_delay = self.flight_controller.fc_parameters.get("BRD_BOOT_DELAY", 0)
-        return int(max(filesystem_boot_delay.value, flightcontroller_boot_delay) // 1000 + 1)  # round up
+        param_boot_delay = (
+            self.current_step_parameters["BRD_BOOT_DELAY"].get_new_value()
+            if "BRD_BOOT_DELAY" in self.current_step_parameters
+            else 0.0
+        )
+        flightcontroller_boot_delay = self._flight_controller.fc_parameters.get("BRD_BOOT_DELAY", 0)
+        return int(max(param_boot_delay, flightcontroller_boot_delay) // 1000 + 1)  # round up
 
     def _reset_and_reconnect_flight_controller(
         self, progress_callback: Optional[Callable] = None, sleep_time: Optional[int] = None
@@ -446,7 +564,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             sleep_time = self._calculate_reset_time()
 
         # Call reset_and_reconnect with a callback to update the reset progress bar and the progress message
-        return self.flight_controller.reset_and_reconnect(progress_callback, None, int(sleep_time))
+        return self._flight_controller.reset_and_reconnect(progress_callback, None, int(sleep_time))
 
     def reset_and_reconnect_workflow(  # pylint: disable=too-many-arguments, too-many-positional-arguments
         self,
@@ -492,7 +610,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         return True  # No reset needed
 
-    def upload_selected_parameters_workflow(self, selected_params: dict, show_error: Callable[[str, str], None]) -> int:
+    def _upload_parameters_to_fc(self, selected_params: dict, show_error: Callable[[str, str], None]) -> int:
         """
         Upload selected parameters to flight controller.
 
@@ -510,15 +628,15 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         for param_name, param in selected_params.items():
             try:
-                self.flight_controller.set_param(param_name, param.value)
-                if param_name not in self.flight_controller.fc_parameters or not is_within_tolerance(
-                    self.flight_controller.fc_parameters[param_name], param.value
+                self._flight_controller.set_param(param_name, param.value)
+                if param_name not in self._flight_controller.fc_parameters or not is_within_tolerance(
+                    self._flight_controller.fc_parameters[param_name], param.value
                 ):
-                    if param_name in self.flight_controller.fc_parameters:
+                    if param_name in self._flight_controller.fc_parameters:
                         logging_info(
                             _("Parameter %s changed from %f to %f"),
                             param_name,
-                            self.flight_controller.fc_parameters[param_name],
+                            self._flight_controller.fc_parameters[param_name],
                             param.value,
                         )
                     else:
@@ -593,7 +711,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             "39_autotune_roll_pitch_results.param",
         ]
 
-        report_file_path = Path(getattr(self.filesystem, "vehicle_dir", ".")) / "tuning_report.csv"
+        report_file_path = Path(getattr(self._local_filesystem, "vehicle_dir", ".")) / "tuning_report.csv"
 
         # Write a CSV with a header ("param", <list of files>) and one row per parameter.
         with open(report_file_path, "w", newline="", encoding="utf-8") as file:
@@ -605,34 +723,107 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
                 for param_file in report_files:
                     try:
                         if param_file == "00_default.param":
-                            value = str(self.filesystem.param_default_dict[param_name].value)
+                            value = str(self._local_filesystem.param_default_dict[param_name].value)
                         else:
-                            value = str(self.filesystem.file_parameters[param_file][param_name].value)
+                            value = str(self._local_filesystem.file_parameters[param_file][param_name].value)
                     except (KeyError, ValueError):
                         # On any unexpected structure, leave the value empty (don't crash)
                         value = ""
                     row.append(value)
                 writer.writerow(row)
 
-    def validate_uploaded_parameters(self, selected_params: dict) -> list[str]:
+    def upload_selected_params_workflow(  # pylint: disable=too-many-arguments, too-many-positional-arguments
+        self,
+        selected_params: dict,
+        ask_confirmation: AskConfirmationCallback,
+        ask_retry_cancel: AskRetryCancelCallback,
+        show_error: ShowErrorCallback,
+        progress_callback_for_reset: Optional[Callable] = None,
+        progress_callback_for_download: Optional[Callable] = None,
+    ) -> None:
+        """
+        Complete workflow for uploading selected parameters, including reset, upload, validation, and retry.
+
+        Args:
+            selected_params: Dictionary of parameters to upload.
+            ask_confirmation: Callback to ask user for confirmation.
+            ask_retry_cancel: Callback to ask user to retry or cancel on upload error.
+            show_error: Callback to show error messages.
+            progress_callback_for_reset: Optional callback for reset progress.
+            progress_callback_for_download: Optional callback for download progress.
+
+        """
+        logging_info(
+            _("Uploading %d selected %s parameters to flight controller..."),
+            len(selected_params),
+            self.current_file,
+        )
+
+        # Upload parameters that require reset
+        reset_happened = self.upload_parameters_that_require_reset_workflow(
+            selected_params,
+            ask_confirmation,
+            show_error,
+            progress_callback_for_reset,
+        )
+
+        # Upload the selected parameters
+        nr_changed = self._upload_parameters_to_fc(selected_params, show_error)
+
+        if reset_happened or nr_changed > 0:
+            self._at_least_one_changed = True
+
+        if self._at_least_one_changed:
+            # Re-download all parameters to validate
+            self.download_flight_controller_parameters(progress_callback_for_download)
+            param_upload_error = self._validate_uploaded_parameters(selected_params)
+
+            if param_upload_error:
+                if ask_retry_cancel(
+                    _("Parameter upload error"),
+                    _("Failed to upload the following parameters to the flight controller:\n")
+                    + f"{(', ').join(param_upload_error)}",
+                ):
+                    # Retry the entire workflow
+                    self.upload_selected_params_workflow(
+                        selected_params,
+                        ask_confirmation,
+                        ask_retry_cancel,
+                        show_error,
+                        progress_callback_for_reset,
+                        progress_callback_for_download,
+                    )
+                # If not retrying, continue without success message
+            else:
+                logging_info(_("All parameters uploaded to the flight controller successfully"))
+
+            self._export_fc_params_missing_or_different()
+
+        self._write_current_file()
+        self._at_least_one_changed = False
+
+    # frontend_tkinter_parameter_editor_table.py API end
+
+    # frontend_tkinter_parameter_editor.py API start
+    def _validate_uploaded_parameters(self, selected_params: dict) -> list[str]:
         logging_info(_("Re-downloaded all parameters from the flight controller"))
 
         # Validate that the read parameters are the same as the ones in the current_file
         param_upload_error = []
         for param_name, param in selected_params.items():
             if (
-                param_name in self.flight_controller.fc_parameters
+                param_name in self._flight_controller.fc_parameters
                 and param is not None
-                and not is_within_tolerance(self.flight_controller.fc_parameters[param_name], float(param.value))
+                and not is_within_tolerance(self._flight_controller.fc_parameters[param_name], float(param.value))
             ):
                 logging_error(
                     _("Parameter %s upload to the flight controller failed. Expected: %f, Actual: %f"),
                     param_name,
                     param.value,
-                    self.flight_controller.fc_parameters[param_name],
+                    self._flight_controller.fc_parameters[param_name],
                 )
                 param_upload_error.append(param_name)
-            if param_name not in self.flight_controller.fc_parameters:
+            if param_name not in self._flight_controller.fc_parameters:
                 logging_error(
                     _("Parameter %s upload to the flight controller failed. Expected: %f, Actual: N/A"),
                     param_name,
@@ -650,18 +841,20 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         """
         # Create FC parameters dictionary
-        fc_parameters = ParDict.from_fc_parameters(self.flight_controller.fc_parameters)
+        fc_parameters = ParDict.from_fc_parameters(self._flight_controller.fc_parameters)
 
         # Early exit if no FC parameters available
         if len(fc_parameters) == 0:
             return fc_parameters
 
         # Remove default parameters from FC parameters if default file exists
-        fc_parameters.remove_if_value_is_similar(self.filesystem.param_default_dict, is_within_tolerance)
+        fc_parameters.remove_if_value_is_similar(self._local_filesystem.param_default_dict, is_within_tolerance)
 
         # Filter out read-only parameters efficiently - only check params that exist in fc_parameters
         readonly_params_to_remove = [
-            param_name for param_name in fc_parameters if self.filesystem.doc_dict.get(param_name, {}).get("ReadOnly", False)
+            param_name
+            for param_name in fc_parameters
+            if self._local_filesystem.doc_dict.get(param_name, {}).get("ReadOnly", False)
         ]
         for param_name in readonly_params_to_remove:
             del fc_parameters[param_name]
@@ -681,13 +874,13 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             last_filename: Last configuration file to process (inclusive).
 
         """
-        if not self.flight_controller.fc_parameters:
+        if not self._flight_controller.fc_parameters:
             return
 
         # Create the compounded state of all parameters stored in the AMC .param files
         compound = ParDict()
         first_config_step_filename = None
-        for file_name, file_params in self.filesystem.file_parameters.items():
+        for file_name, file_params in self._local_filesystem.file_parameters.items():
             if file_name != "00_default.param":
                 if first_config_step_filename is None:
                     first_config_step_filename = file_name
@@ -722,7 +915,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             first_name_without_ext = first_config_step_filename.rsplit(".", 1)[0] if first_config_step_filename else "unknown"
             # the last filename already has the .param extension
             filename = f"fc_params_missing_or_different_in_the_amc_param_files_{first_name_without_ext}_to_{last_filename}"
-            self.filesystem.export_to_param(params_missing_in_the_amc_param_files, filename, annotate_doc=False)
+            self._local_filesystem.export_to_param(params_missing_in_the_amc_param_files, filename, annotate_doc=False)
             logging_info(
                 _("Exported %d FC parameters missing or different in AMC files to %s"),
                 len(params_missing_in_the_amc_param_files),
@@ -731,10 +924,10 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
         else:
             logging_info(_("No FC parameters are missing or different from AMC parameter files"))
 
-    def export_fc_params_missing_or_different(self) -> None:
+    def _export_fc_params_missing_or_different(self) -> None:
         non_default_non_read_only_fc_params = self._get_non_default_non_read_only_fc_params()
 
-        last_config_step_filename = list(self.filesystem.file_parameters.keys())[-1]
+        last_config_step_filename = list(self._local_filesystem.file_parameters.keys())[-1]
         # Export FC parameters that are missing or different from AMC parameter files
         self._export_fc_params_missing_or_different_in_amc_files(non_default_non_read_only_fc_params, self.current_file)
         self._export_fc_params_missing_or_different_in_amc_files(
@@ -759,7 +952,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             run_in_thread: Callback to run the download in a thread (optional).
 
         """
-        if self.flight_controller.master is None:
+        if self._flight_controller.master is None:
             show_error(_("Error"), _("No flight controller connected"))
             return
 
@@ -771,26 +964,29 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
         if not filename:
             return
 
-        success = self.flight_controller.download_last_flight_log(filename, progress_callback)
+        success = self._flight_controller.download_last_flight_log(filename, progress_callback)
         if success:
             show_info(_("Success"), _("Flight log downloaded successfully to:\n%s") % filename)
         else:
             show_error(_("Error"), _("Failed to download flight log. Check the console for details."))
 
-    def is_configuration_step_optional(self, file_name: str, threshold_pct: int = 20) -> bool:
+    def is_configuration_step_optional(self, file_name: Optional[str] = None, threshold_pct: int = 20) -> bool:
         """
         Check if the configuration step for the given file is optional.
 
         Args:
-            file_name: Name of the configuration file to check.
+            file_name: Name of the configuration file to check, defaults to self.current_file.
             threshold_pct: Threshold percentage below which the step is considered optional.
 
         Returns:
             bool: True if the configuration step is optional, False if mandatory.
 
         """
+        if file_name is None:
+            file_name = self.current_file
+
         # Check if the configuration step for the given file is optional
-        mandatory_text, _mandatory_url = self.filesystem.get_documentation_text_and_url(file_name, "mandatory")
+        mandatory_text, _mandatory_url = self._local_filesystem.get_documentation_text_and_url(file_name, "mandatory")
         # Extract percentage from mandatory_text like "80% mandatory (20% optional)"
         percentage = 0
         if mandatory_text:
@@ -801,21 +997,24 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         return percentage <= threshold_pct
 
-    def get_next_non_optional_file(self, current_file: str) -> Optional[str]:
+    def get_next_non_optional_file(self, current_file: Optional[str] = None) -> Optional[str]:
         """
         Get the next non-optional configuration file in sequence.
 
         Args:
-            current_file: The current parameter file being processed.
+            current_file: The current parameter file being processed, defaults to self.current_file.
 
         Returns:
             Optional[str]: Next non-optional file name, or None if at the end.
 
         """
-        files = list(self.filesystem.file_parameters.keys())
+        files = list(self._local_filesystem.file_parameters.keys())
         if not files:
             return None
 
+        if current_file is None:
+            current_file = self.current_file
+
         try:
             next_file_index = files.index(current_file) + 1
 
@@ -843,14 +1042,14 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
         """
         # Get annotated FC parameters
-        annotated_fc_parameters = self.filesystem.annotate_intermediate_comments_to_param_dict(
-            self.flight_controller.fc_parameters
+        annotated_fc_parameters = self._local_filesystem.annotate_intermediate_comments_to_param_dict(
+            self._flight_controller.fc_parameters
         )
         if not annotated_fc_parameters:
             return {}
 
         # Categorize parameters using filesystem logic
-        categorized = self.filesystem.categorize_parameters(annotated_fc_parameters)
+        categorized = self._local_filesystem.categorize_parameters(annotated_fc_parameters)
         if not categorized or len(categorized) != 3:
             # Return empty dict if categorization fails or returns empty tuple
             return {}
@@ -1009,13 +1208,13 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             return False
 
         # If file exists, ask user for confirmation
-        if self.filesystem.vehicle_configuration_file_exists(filename):
+        if self._local_filesystem.vehicle_configuration_file_exists(filename):
             msg = _("{} file already exists.\nDo you want to overwrite it?")
             should_write_file = ask_confirmation(_("Overwrite existing file"), msg.format(filename))
 
         # Write the file using if confirmed and has parameters
         if should_write_file:
-            self.filesystem.export_to_param(param_dict, filename, annotate_doc)
+            self._local_filesystem.export_to_param(param_dict, filename, annotate_doc)
             logging_info(_("Summary file %s written"), filename)
 
         return should_write_file
@@ -1042,14 +1241,14 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
         should_write_file = True  # Default to writing new files
 
         # If file exists, ask user for confirmation
-        if self.filesystem.zip_file_exists():
-            zip_file_path = self.filesystem.zip_file_path()
+        if self._local_filesystem.zip_file_exists():
+            zip_file_path = self._local_filesystem.zip_file_path()
             msg = _("{} file already exists.\nDo you want to overwrite it?")
             should_write_file = ask_confirmation(_("Overwrite existing file"), msg.format(zip_file_path))
 
         if should_write_file:
-            self.filesystem.zip_files(files_to_zip)
-            zip_file_path = self.filesystem.zip_file_path()
+            self._local_filesystem.zip_files(files_to_zip)
+            zip_file_path = self._local_filesystem.zip_file_path()
             msg = _(
                 "All relevant files have been zipped into the \n"
                 "{zip_file_path} file.\n\nYou can now upload this file to the ArduPilot Methodic\n"
@@ -1061,18 +1260,75 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
 
     def repopulate_configuration_step_parameters(
         self,
-    ) -> tuple[bool, list[tuple[str, str]], list[tuple[str, str]]]:
+    ) -> tuple[list[tuple[str, str]], list[tuple[str, str]]]:
         """
         Process the configuration step for the current file and update the self.parameters.
 
         Returns:
-            tuple: (config_step_edited, ui_errors, ui_infos)
+            tuple: (ui_errors, ui_infos)
 
         """
-        self.parameters, config_step_edited, ui_errors, ui_infos = self.config_step_processor.process_configuration_step(
-            self.current_file, self.fc_parameters
+        # Reset tracking sets when navigating to new file
+        self._added_parameters.clear()
+        self._deleted_parameters.clear()
+
+        # Process configuration step and get operations to apply
+        self.current_step_parameters, ui_errors, ui_infos, duplicates_to_remove, renames_to_apply, derived_params = (
+            self._config_step_processor.process_configuration_step(self.current_file, self.fc_parameters)
         )
-        return config_step_edited, ui_errors, ui_infos
+
+        # Apply derived parameters to domain model using specialized setters
+        for param_name, derived_par in derived_params.items():
+            if param_name in self.current_step_parameters:
+                # Update existing forced/derived parameter with new value using dedicated setter
+                # The setter methods will raise ValueError for invalid parameters (not forced/derived, readonly, etc.)
+                try:
+                    self.current_step_parameters[param_name].set_forced_or_derived_value(float(derived_par.value))
+                    if derived_par.comment:
+                        self.current_step_parameters[param_name].set_forced_or_derived_change_reason(derived_par.comment)
+                except (ValueError, TypeError) as e:
+                    logging_error(
+                        _("Failed to apply derived parameter %s: %s"),
+                        param_name,
+                        str(e),
+                    )
+            else:
+                # Parameter in derived_params but not in self.parameters - this is unexpected
+                logging_error(
+                    _("Derived parameter %s not found in current parameters, skipping"),
+                    param_name,
+                )
+
+        # Apply rename operations to domain model using add/delete tracking
+        for old_name in duplicates_to_remove:
+            # Mark duplicate as deleted
+            if old_name in self._local_filesystem.file_parameters.get(self.current_file, ParDict()):
+                self._deleted_parameters.add(old_name)
+            # Remove from domain model
+            if old_name in self.current_step_parameters:
+                del self.current_step_parameters[old_name]
+
+        for old_name, new_name in renames_to_apply:
+            # Get the parameter value from the original file
+            original_params = self._local_filesystem.file_parameters.get(self.current_file, ParDict())
+            if old_name in original_params:
+                # Mark old parameter as deleted
+                self._deleted_parameters.add(old_name)
+
+                # Create new parameter with renamed name
+                old_par = original_params[old_name]
+                self.current_step_parameters[new_name] = self._config_step_processor.create_ardupilot_parameter(
+                    new_name, old_par, self.current_file, self.fc_parameters
+                )
+
+                # Mark new parameter as added
+                self._added_parameters.add(new_name)
+
+                # Remove old parameter from domain model
+                if old_name in self.current_step_parameters:
+                    del self.current_step_parameters[old_name]
+
+        return ui_errors, ui_infos
 
     def get_different_parameters(self) -> dict[str, ArduPilotParameter]:
         """
@@ -1082,7 +1338,7 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             Dictionary of parameters that are different from FC
 
         """
-        return self.config_step_processor.filter_different_parameters(self.parameters)
+        return self._config_step_processor.filter_different_parameters(self.current_step_parameters)
 
     def delete_parameter_from_current_file(self, param_name: str) -> None:
         """
@@ -1092,18 +1348,30 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
             param_name: The name of the parameter to delete
 
         """
-        del self.current_file_parameters[param_name]
-        if param_name in self.parameters:
-            del self.parameters[param_name]
+        # If parameter was in original file, mark as deleted
+        if param_name in self._local_filesystem.file_parameters.get(self.current_file, ParDict()):
+            self._deleted_parameters.add(param_name)
+
+        # If it was previously added in this session, remove from added set
+        self._added_parameters.discard(param_name)
+
+        # Remove from runtime state
+        if param_name in self.current_step_parameters:
+            del self.current_step_parameters[param_name]
 
     def get_possible_add_param_names(self) -> list[str]:
         """Return a sorted list of possible parameter names to add, or raise OperationNotPossibleError if not possible."""
-        param_dict = self.filesystem.doc_dict or self.fc_parameters
+        param_dict = self._local_filesystem.doc_dict or self.fc_parameters
         if not param_dict:
             raise OperationNotPossibleError(
                 _("No apm.pdef.xml file and no FC connected. Not possible autocomplete parameter names.")
             )
-        possible_add_param_names = [param_name for param_name in param_dict if param_name not in self.current_file_parameters]
+
+        # Build set of currently active parameters from domain model
+        active_params = set(self.current_step_parameters.keys())
+
+        # Find parameters that aren't currently active
+        possible_add_param_names = [param_name for param_name in param_dict if param_name not in active_params]
         possible_add_param_names.sort()
         return possible_add_param_names
 
@@ -1119,34 +1387,206 @@ class ConfigurationManager:  # pylint: disable=too-many-public-methods
         if not param_name:
             raise InvalidParameterNameError(_("Parameter name can not be empty."))
 
-        if param_name in self.current_file_parameters:
+        # Check if parameter already exists (in original file, added, or not deleted)
+        original_file_params = self._local_filesystem.file_parameters.get(self.current_file, ParDict())
+        is_in_original = param_name in original_file_params
+        is_already_added = param_name in self._added_parameters
+        is_deleted = param_name in self._deleted_parameters
+
+        if (is_in_original and not is_deleted) or is_already_added:
             raise InvalidParameterNameError(_("Parameter already exists, edit it instead"))
 
         fc_parameters = self.fc_parameters
         if fc_parameters:
             if param_name in fc_parameters:
-                self.current_file_parameters[param_name] = Par(fc_parameters[param_name], "")
-                self.parameters[param_name] = self.config_step_processor.create_ardupilot_parameter(
-                    param_name, self.current_file_parameters[param_name], self.current_file, fc_parameters
+                # Create the parameter in domain model
+                par = Par(fc_parameters[param_name], "")
+                self.current_step_parameters[param_name] = self._config_step_processor.create_ardupilot_parameter(
+                    param_name, par, self.current_file, fc_parameters
                 )
+
+                # Track addition
+                if not is_in_original:
+                    self._added_parameters.add(param_name)
+                # If was previously deleted, remove from deleted set
+                self._deleted_parameters.discard(param_name)
+
                 return True
             raise InvalidParameterNameError(_("Parameter name not found in the flight controller."))
 
-        if self.filesystem.doc_dict:
-            if param_name in self.filesystem.doc_dict:
-                self.current_file_parameters[param_name] = Par(
-                    self.filesystem.param_default_dict.get(param_name, Par(0, "")).value, ""
-                )
-                self.parameters[param_name] = self.config_step_processor.create_ardupilot_parameter(
-                    param_name, self.current_file_parameters[param_name], self.current_file, fc_parameters
+        if self._local_filesystem.doc_dict:
+            if param_name in self._local_filesystem.doc_dict:
+                # Create the parameter in domain model
+                par = Par(self._local_filesystem.param_default_dict.get(param_name, Par(0, "")).value, "")
+                self.current_step_parameters[param_name] = self._config_step_processor.create_ardupilot_parameter(
+                    param_name, par, self.current_file, fc_parameters
                 )
+
+                # Track addition
+                if not is_in_original:
+                    self._added_parameters.add(param_name)
+                # If was previously deleted, remove from deleted set
+                self._deleted_parameters.discard(param_name)
+
                 return True
             raise InvalidParameterNameError(
                 _("'{param_name}' not found in the apm.pdef.xml file.").format(param_name=param_name)
             )
 
-        if not fc_parameters and not self.filesystem.doc_dict:
+        if not fc_parameters and not self._local_filesystem.doc_dict:
             raise OperationNotPossibleError(
                 _("Can not add parameter when no FC is connected and no apm.pdef.xml file exists.")
             )
         return False
+
+    def get_parameters_as_par_dict(self, param_names: Optional[list[str]] = None) -> ParDict:
+        """
+        Extract Par objects from ArduPilotParameter domain models.
+
+        This method converts the domain model objects to data transfer objects (Par)
+        that can be used for file operations or flight controller uploads.
+
+        Args:
+            param_names: Optional list of parameter names to include.
+                        If None, includes all parameters.
+
+        Returns:
+            ParDict containing Par objects with current values and change reasons
+
+        """
+        if param_names is None:
+            param_names = list(self.current_step_parameters.keys())
+
+        return ParDict(
+            {
+                name: Par(self.current_step_parameters[name].get_new_value(), self.current_step_parameters[name].change_reason)
+                for name in param_names
+                if name in self.current_step_parameters
+            }
+        )
+
+    def _has_unsaved_changes(self) -> bool:
+        """
+        Check if any changes have been made that need to be saved.
+
+        This includes:
+        - User edits to parameter values
+        - Derived parameter changes (tracked via is_dirty)
+        - Forced parameter changes (tracked via is_dirty)
+        - Connection renaming changes (tracked via _added_parameters and _deleted_parameters)
+        - Parameter additions
+        - Parameter deletions
+
+        Returns:
+            True if there are unsaved changes, False otherwise
+
+        """
+        # Check for structural changes (additions/deletions, including from renames)
+        if self._added_parameters or self._deleted_parameters:
+            return True
+
+        # Check individual parameter edits (value or comment changes)
+        return any(param.is_dirty for param in self.current_step_parameters.values())
+
+    def get_last_configuration_step_number(self) -> Optional[int]:
+        if self._local_filesystem.configuration_phases:
+            # Get the first two characters of the last configuration step filename
+            last_step_filename = next(reversed(self._local_filesystem.file_parameters.keys()))
+            return int(last_step_filename[:2]) + 1 if len(last_step_filename) >= 2 else 1
+        return None
+
+    def get_sorted_phases_with_end_and_weight(self, last_step_nr: int) -> dict[str, PhaseData]:
+        return self._local_filesystem.get_sorted_phases_with_end_and_weight(last_step_nr)
+
+    def get_vehicle_directory(self) -> str:
+        return self._local_filesystem.vehicle_dir
+
+    def parameter_files(self) -> list[str]:
+        return list(self._local_filesystem.file_parameters.keys())
+
+    def parameter_documentation_available(self) -> bool:
+        return bool(self._local_filesystem.doc_dict)
+
+    def configuration_phases(self) -> dict[str, PhaseData]:
+        return self._local_filesystem.configuration_phases
+
+    def _write_current_file(self) -> None:
+        self._local_filesystem.write_last_uploaded_filename(self.current_file)
+
+    def _export_current_file(self, annotate_doc: bool) -> None:
+        # Convert domain model parameters to Par objects for export
+        export_params = self.get_parameters_as_par_dict()
+
+        # Export to file
+        self._local_filesystem.export_to_param(export_params, self.current_file, annotate_doc)
+
+        # Update the filesystem's file_parameters to match what was saved
+        self._local_filesystem.file_parameters[self.current_file] = export_params
+
+        self._added_parameters.clear()
+        self._deleted_parameters.clear()
+        # copy parameters new values to their _values_on_file
+        for param in self.current_step_parameters.values():
+            param.copy_new_value_to_file()
+
+    def open_documentation_in_browser(self, filename: str) -> None:
+        _blog_text, blog_url = self.get_documentation_text_and_url("blog", filename)
+        _wiki_text, wiki_url = self.get_documentation_text_and_url("wiki", filename)
+        _external_tool_text, external_tool_url = self.get_documentation_text_and_url("external_tool", filename)
+        if wiki_url:
+            webbrowser_open(url=wiki_url, new=0, autoraise=False)
+        if external_tool_url:
+            webbrowser_open(url=external_tool_url, new=0, autoraise=False)
+        if blog_url:
+            webbrowser_open(url=blog_url, new=0, autoraise=True)
+
+    # frontend_tkinter_parameter_editor.py API end
+
+    # frontend_tkinter_parameter_editor_documentation_frame.py API start
+    def get_documentation_text_and_url(self, key: str, filename: Optional[str] = None) -> tuple[str, str]:
+        if filename is None:
+            filename = self.current_file
+        return self._local_filesystem.get_documentation_text_and_url(filename, key)
+
+    def get_why_why_now_tooltip(self) -> str:
+        why_tooltip_text = self._local_filesystem.get_seq_tooltip_text(self.current_file, "why")
+        why_now_tooltip_text = self._local_filesystem.get_seq_tooltip_text(self.current_file, "why_now")
+        tooltip_text = ""
+        if why_tooltip_text:
+            tooltip_text += _("Why: ") + _(why_tooltip_text) + "\n"
+        if why_now_tooltip_text:
+            tooltip_text += _("Why now: ") + _(why_now_tooltip_text)
+        return tooltip_text
+
+    def get_documentation_frame_title(self) -> str:
+        if self.current_file:
+            title = _("{current_file} Documentation")
+            return title.format(current_file=self.current_file)
+        return _("Documentation")
+
+    def parse_mandatory_level_percentage(self, text: str) -> tuple[int, str]:
+        """
+        Parse and validate the mandatory level percentage from text.
+
+        Args:
+            text: The text containing the mandatory level information
+
+        Returns:
+            tuple: (percentage_value, tooltip_text)
+                   percentage_value: 0-100 for valid percentage, 0 for invalid
+                   tooltip_text: Formatted tooltip text
+
+        """
+        current_file = self.current_file or ""
+        try:
+            # Extract up to 3 digits from the start of the mandatory text
+            percentage = int("".join([c for c in text[:3] if c.isdigit()]))
+            if 0 <= percentage <= 100:
+                tooltip = _("This configuration step ({current_file} intermediate parameter file) is {percentage}% mandatory")
+                return percentage, tooltip.format(current_file=current_file, percentage=percentage)
+            raise ValueError
+        except ValueError:
+            tooltip = _("Mandatory level not available for this configuration step ({current_file})")
+            return 0, tooltip.format(current_file=current_file)
+
+    # frontend_tkinter_parameter_editor_documentation_frame.py API end