Folder structure cleanup, added APM tooltips

src/comm/MAVLinkSimulationLink.cc

@@ -66,10 +66,12 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     onboardParams.insert("PID_ROLL_K_P", 0.5f);
     onboardParams.insert("PID_PITCH_K_P", 0.5f);
     onboardParams.insert("PID_YAW_K_P", 0.5f);
-    onboardParams.insert("PID_XY_K_P", 0.5f);
+    onboardParams.insert("PID_XY_K_P", 100.0f);
     onboardParams.insert("PID_ALT_K_P", 0.5f);
     onboardParams.insert("SYS_TYPE", 1);
     onboardParams.insert("SYS_ID", systemId);
+    onboardParams.insert("RC4_REV", 0);
+    onboardParams.insert("RC5_REV", 1);
 
     // Comments on the variables can be found in the header file
 

src/comm/MAVLinkSimulationMAV.cc

@@ -68,7 +68,7 @@ void MAVLinkSimulationMAV::mainloop()
     // 1 Hz execution
     if (timer1Hz <= 0) {
         mavlink_message_t msg;
-        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, MAV_MODE_GUIDED, MAV_FLIGHT_MODE_AUTO_MISSION, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF);
+        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_MODE_GUIDED, MAV_FLIGHT_MODE_AUTO_MISSION, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF);
         link->sendMAVLinkMessage(&msg);
         planner.handleMessage(msg);
 

src/uas/QGCUASParamManager.h

@@ -4,6 +4,7 @@
 #include <QWidget>
 #include <QMap>
 #include <QTimer>
+#include <QVariant>
 
 class UASInterface;
 
@@ -16,10 +17,10 @@ public:
     QList<QString> getParameterNames(int component) const {
         return parameters.value(component)->keys();
     }
-    QList<float> getParameterValues(int component) const {
+    QList<QVariant> getParameterValues(int component) const {
         return parameters.value(component)->values();
     }
-    float getParameterValue(int component, const QString& parameter) const {
+    QVariant getParameterValue(int component, const QString& parameter) const {
         return parameters.value(component)->value(parameter);
     }
 
@@ -29,23 +30,23 @@ public:
     virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
 
 signals:
-    void parameterChanged(int component, QString parameter, float value);
-    void parameterChanged(int component, int parameterIndex, float value);
+    void parameterChanged(int component, QString parameter, QVariant value);
+    void parameterChanged(int component, int parameterIndex, QVariant value);
     void parameterListUpToDate(int component);
 
 public slots:
     /** @brief Write one parameter to the MAV */
-    virtual void setParameter(int component, QString parameterName, float value) = 0;
+    virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList() = 0;
 
 protected:
     UASInterface* mav;   ///< The MAV this widget is controlling
-    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QMap<int, QMap<QString, QVariant>* > changedValues; ///< Changed values
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     QVector<bool> received; ///< Successfully received parameters
     QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?

src/uas/UAS.cc

@@ -743,21 +743,74 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 QByteArray bytes((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
                 QString parameterName = QString(bytes);
                 int component = message.compid;
-                float val = value.param_value;
+                mavlink_param_union_t val;
+                val.param_float = value.param_value;
+
+                // Convert to machine order if necessary
+//#if MAVLINK_NEED_BYTE_SWAP
+//   buffer[bindex]   = (b>>24)&0xff;
+//   buffer[bindex+1] = (b>>16)&0xff;
+//   buffer[bindex+2] = (b>>8)&0xff;
+//   buffer[bindex+3] = (b & 0xff);
+//#else
 
                 // Insert component if necessary
                 if (!parameters.contains(component))
                 {
-                    parameters.insert(component, new QMap<QString, float>());
+                    parameters.insert(component, new QMap<QString, QVariant>());
                 }
 
                 // Insert parameter into registry
                 if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
-                parameters.value(component)->insert(parameterName, val);
 
-                // Emit change
-                emit parameterChanged(uasId, message.compid, parameterName, val);
-                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
+                // Insert with correct type
+                switch (value.param_type)
+                {
+                case MAV_DATA_TYPE_FLOAT:
+                    parameters.value(component)->insert(parameterName, val.param_float);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_float);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_float);
+                    break;/*
+                case MAV_DATA_TYPE_UINT8:
+                    parameters.value(component)->insert(parameterName, val.param_uint8);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint8);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint8);
+                    break;
+                case MAV_DATA_TYPE_INT8:
+                    parameters.value(component)->insert(parameterName, val.param_int8);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int8);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int8);
+                    break;
+                case MAV_DATA_TYPE_UINT16:
+                    parameters.value(component)->insert(parameterName, val.param_uint16);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint16);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint16);
+                    break;
+                case MAV_DATA_TYPE_INT16:
+                    parameters.value(component)->insert(parameterName, val.param_int16);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int16);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int16);
+                    break;*/
+                case MAV_DATA_TYPE_UINT32:
+                    parameters.value(component)->insert(parameterName, val.param_uint32);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint32);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint32);
+                    break;
+                case MAV_DATA_TYPE_INT32:
+                    parameters.value(component)->insert(parameterName, val.param_int32);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int32);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int32);
+                    break;
+                default:
+                    qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
+                }
             }
             break;
         case MAVLINK_MSG_ID_COMMAND_ACK:
@@ -1868,13 +1921,35 @@ void UAS::enableExtra3Transmission(int rate)
  * @param id Name of the parameter
  * @param value Parameter value
  */
-void UAS::setParameter(const int component, const QString& id, const float value)
+void UAS::setParameter(const int component, const QString& id, const QVariant& value)
 {
     if (!id.isNull())
     {
         mavlink_message_t msg;
         mavlink_param_set_t p;
-        p.param_value = value;
+        mavlink_param_union_t union_value;
+
+        // Assign correct value based on QVariant
+        switch (value.type())
+        {
+        case QVariant::Int:
+            union_value.param_int32 = value.toInt();
+            p.param_type = MAV_DATA_TYPE_INT32;
+            break;
+        case QVariant::UInt:
+            union_value.param_uint32 = value.toUInt();
+            p.param_type = MAV_DATA_TYPE_UINT32;
+            break;
+        case QMetaType::Float:
+            union_value.param_float = value.toFloat();
+            p.param_type = MAV_DATA_TYPE_FLOAT;
+            break;
+        default:
+            qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
+            return;
+        }
+
+        p.param_value = union_value.param_float;
         p.target_system = (uint8_t)uasId;
         p.target_component = (uint8_t)component;
 

src/uas/UAS.h

@@ -200,7 +200,7 @@ protected: //COMMENTS FOR TEST UNIT
     QImage image;               ///< Image data of last completely transmitted image
     quint64 imageStart;
 
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     bool paramsOnceRequested;   ///< If the parameter list has been read at least once
     int airframe;               ///< The airframe type
     bool attitudeKnown;         ///< True if attitude was received, false else
@@ -459,7 +459,7 @@ public slots:
     void requestParameter(int component, int parameter);
 
     /** @brief Set a system parameter */
-    void setParameter(const int component, const QString& id, const float value);
+    void setParameter(const int component, const QString& id, const QVariant& value);
 
     /** @brief Write parameters to permanent storage */
     void writeParametersToStorage();

src/uas/UASInterface.h

@@ -255,7 +255,7 @@ public slots:
      * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it
      * @param value Value of the parameter, IEEE 754 single precision floating point
      */
-    virtual void setParameter(const int component, const QString& id, const float value) = 0;
+    virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0;
 
     /**
      * @brief Add a link to the list of current links
@@ -395,8 +395,8 @@ signals:
     void waypointSelected(int uasId, int id);
     void waypointReached(UASInterface* uas, int id);
     void autoModeChanged(bool autoMode);
-    void parameterChanged(int uas, int component, QString parameterName, float value);
-    void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
     void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
     void letterDetected(int uasId, QString letter, float confidence, bool detected);
     /**

src/ui/QGCParamWidget.cc

@@ -123,11 +123,11 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
     tree->setExpandsOnDoubleClick(true);
 
     // Connect signals/slots
-    connect(this, SIGNAL(parameterChanged(int,QString,float)), mav, SLOT(setParameter(int,QString,float)));
+    connect(this, SIGNAL(parameterChanged(int,QString,QVariant)), mav, SLOT(setParameter(int,QString,QVariant)));
     connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
 
     // New parameters from UAS
-    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(addParameter(int,int,int,int,QString,float)));
+    connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant)));
 
     // Connect retransmission guard
     connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int)));
@@ -150,7 +150,7 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
 {
     QDir appDir = QDir::current();
     appDir.cd("files/parameter_tooltips");
-    QString fileName = QString("MAV_AUTOPILOT_%1-MAV_TYPE_%2.csv").arg(autopilot).arg(airframe);
+    QString fileName = QString("MAV_AUTOPILOT_%1-MAV_TYPE_%2.txt").arg(autopilot).arg(airframe);
     QString filePath = appDir.filePath(fileName);
     QFile paramMetaFile(filePath);
 
@@ -168,15 +168,23 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
     QTextStream in(&paramMetaFile);
 
     // First line is header
+    // there might be more lines, but the first
+    // line is assumed to be at least header
     QString header = in.readLine();
 
+    // Ignore top-level comment lines
+    while (header.startsWith('#') || header.startsWith('/') || header.startsWith('='))
+    {
+        header = in.readLine();
+    }
+
     bool charRead = false;
     QString separator = "";
     QList<QChar> sepCandidates;
     sepCandidates << '\t';
     sepCandidates << ',';
     sepCandidates << ';';
-    sepCandidates << ' ';
+    //sepCandidates << ' ';
     sepCandidates << '~';
     sepCandidates << '|';
 
@@ -203,6 +211,15 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
         }
     }
 
+    bool stripFirstSeparator = false;
+    bool stripLastSeparator = false;
+
+    // Figure out if the lines start with the separator (e.g. wiki syntax)
+    if (header.startsWith(separator)) stripFirstSeparator = true;
+
+    // Figure out if the lines end with the separator (e.g. wiki syntax)
+    if (header.endsWith(separator)) stripLastSeparator = true;
+
     QString out = separator;
     out.replace("\t", "<tab>");
     qDebug() << " Separator: \"" << out << "\"";
@@ -214,6 +231,14 @@ void QGCParamWidget::loadParameterInfoCSV(const QString& autopilot, const QStrin
     {
         QString line = in.readLine();
 
+        //qDebug() << "LINE PRE-STRIP" << line;
+
+        // Strip separtors if necessary
+        if (stripFirstSeparator) line.remove(0, separator.length());
+        if (stripLastSeparator) line.remove(line.length()-separator.length(), line.length()-1);
+
+        //qDebug() << "LINE POST-STRIP" << line;
+
         // Keep empty parts here - we still have to act on them
         QStringList parts = line.split(separator, QString::KeepEmptyParts);
 
@@ -281,11 +306,11 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
         tree->update();
         // Create map in parameters
         if (!parameters.contains(component)) {
-            parameters.insert(component, new QMap<QString, float>());
+            parameters.insert(component, new QMap<QString, QVariant>());
         }
         // Create map in changed parameters
         if (!changedValues.contains(component)) {
-            changedValues.insert(component, new QMap<QString, float>());
+            changedValues.insert(component, new QMap<QString, QVariant>());
         }
     }
 }
@@ -295,7 +320,7 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
  * @param component id of the component
  * @param parameterName human friendly name of the parameter
  */
-void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value)
+void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value)
 {
     addParameter(uas, component, parameterName, value);
 
@@ -346,7 +371,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
     bool writeMismatch = false;
     //bool lastWritten = false;
     // Mark this parameter as received in write ACK list
-    QMap<QString, float>* map = transmissionMissingWriteAckPackets.value(component);
+    QMap<QString, QVariant>* map = transmissionMissingWriteAckPackets.value(component);
     if (map && map->contains(parameterName))
     {
         justWritten = true;
@@ -378,7 +403,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
         statusLabel->setPalette(pal);
     } else if (justWritten && !writeMismatch)
     {
-        statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value).arg(paramCount));
+        statusLabel->setText(tr("SUCCESS: Wrote %2 (#%1/%4): %3").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(paramCount));
         QPalette pal = statusLabel->palette();
         pal.setColor(backgroundRole(), QGC::colorGreen);
         statusLabel->setPalette(pal);
@@ -388,7 +413,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
         QPalette pal = statusLabel->palette();
         pal.setColor(backgroundRole(), QGC::colorRed);
         statusLabel->setPalette(pal);
-        statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName)).arg(value));
+        statusLabel->setText(tr("FAILURE: Wrote %1: sent %2 != onboard %3").arg(parameterName).arg(map->value(parameterName).toDouble()).arg(value.toDouble()));
     }
     else
     {
@@ -404,7 +429,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
             pal.setColor(backgroundRole(), QGC::colorGreen);
             statusLabel->setPalette(pal);
         }
-        statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value).arg(missCount).arg(paramCount));
+        statusLabel->setText(tr("Got %2 (#%1/%5): %3 (%4 missing)").arg(paramId+1).arg(parameterName).arg(value.toDouble()).arg(missCount).arg(paramCount));
     }
 
     // Check if last parameter was received
@@ -425,7 +450,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
  * @param component id of the component
  * @param parameterName human friendly name of the parameter
  */
-void QGCParamWidget::addParameter(int uas, int component, QString parameterName, float value)
+void QGCParamWidget::addParameter(int uas, int component, QString parameterName, QVariant value)
 {
     Q_UNUSED(uas);
     // Reference to item in tree
@@ -464,7 +489,8 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
     {
         QString parent = parameterName.section(splitToken, 0, 0, QString::SectionSkipEmpty);
         QMap<QString, QTreeWidgetItem*>* compParamGroups = paramGroups.value(component);
-        if (!compParamGroups->contains(parent)) {
+        if (!compParamGroups->contains(parent))
+        {
             // Insert group item
             QStringList glist;
             glist.append(parent);
@@ -479,7 +505,8 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
         for (int i = 0; i < parentItem->childCount(); i++) {
             QTreeWidgetItem* child = parentItem->child(i);
             QString key = child->data(0, Qt::DisplayRole).toString();
-            if (key == parameterName) {
+            if (key == parameterName)
+            {
                 //qDebug() << "UPDATED CHILD";
                 parameterItem = child;
                 parameterItem->setData(1, Qt::DisplayRole, value);
@@ -492,7 +519,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
             // Insert parameter into map
             QStringList plist;
             plist.append(parameterName);
-            plist.append(QString::number(value));
+            plist.append(QString::number(value.toDouble()));
             // CREATE PARAMETER ITEM
             parameterItem = new QTreeWidgetItem(plist);
             // CONFIGURE PARAMETER ITEM
@@ -523,7 +550,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
             // Insert parameter into map
             QStringList plist;
             plist.append(parameterName);
-            plist.append(QString::number(value));
+            plist.append(QString::number(value.toDouble()));
             // CREATE PARAMETER ITEM
             parameterItem = new QTreeWidgetItem(plist);
             // CONFIGURE PARAMETER ITEM
@@ -589,9 +616,9 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
         // Parent is now top-level component
         int key = components->key(parent);
         if (!changedValues.contains(key)) {
-            changedValues.insert(key, new QMap<QString, float>());
+            changedValues.insert(key, new QMap<QString, QVariant>());
         }
-        QMap<QString, float>* map = changedValues.value(key, NULL);
+        QMap<QString, QVariant>* map = changedValues.value(key, NULL);
         if (map) {
             bool ok;
             QString str = current->data(0, Qt::DisplayRole).toString();
@@ -636,16 +663,17 @@ void QGCParamWidget::saveParameters()
     in << "# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)\n";
 
     // Iterate through all components, through all parameters and emit them
-    QMap<int, QMap<QString, float>*>::iterator i;
+    QMap<int, QMap<QString, QVariant>*>::iterator i;
     for (i = parameters.begin(); i != parameters.end(); ++i) {
         // Iterate through the parameters of the component
         int compid = i.key();
-        QMap<QString, float>* comp = i.value();
+        QMap<QString, QVariant>* comp = i.value();
         {
-            QMap<QString, float>::iterator j;
-            for (j = comp->begin(); j != comp->end(); ++j) {
+            QMap<QString, QVariant>::iterator j;
+            for (j = comp->begin(); j != comp->end(); ++j)
+            {
                 QString paramValue("%1");
-                paramValue = paramValue.arg(j.value(), 25, 'g', 12);
+                paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
                 in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n";
                 in.flush();
             }
@@ -687,7 +715,7 @@ void QGCParamWidget::loadParameters()
                     if (changed) {
                         // Create changed values data structure if necessary
                         if (!changedValues.contains(wpParams.at(1).toInt())) {
-                            changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, float>());
+                            changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, QVariant>());
                         }
 
                         // Add to changed values
@@ -759,7 +787,7 @@ void QGCParamWidget::retransmissionGuardTick()
 
         // Re-request at maximum retransmissionBurstRequestSize parameters at once
         // to prevent link flooding
-        QMap<int, QMap<QString, float>*>::iterator i;
+        QMap<int, QMap<QString, QVariant>*>::iterator i;
         for (i = parameters.begin(); i != parameters.end(); ++i) {
             // Iterate through the parameters of the component
             int component = i.key();
@@ -786,12 +814,12 @@ void QGCParamWidget::retransmissionGuardTick()
         QList<int> writeKeys = transmissionMissingWriteAckPackets.keys();
         foreach (int component, writeKeys) {
             int count = 0;
-            QMap <QString, float>* missingParams = transmissionMissingWriteAckPackets.value(component);
+            QMap <QString, QVariant>* missingParams = transmissionMissingWriteAckPackets.value(component);
             foreach (QString key, missingParams->keys()) {
                 if (count < retransmissionBurstRequestSize) {
                     // Re-request write operation
                     emit parameterChanged(component, key, missingParams->value(key));
-                    statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key)));
+                    statusLabel->setText(tr("Requested rewrite of: %1: %2").arg(key).arg(missingParams->value(key).toDouble()));
                     count++;
                 } else {
                     break;
@@ -819,13 +847,24 @@ void QGCParamWidget::requestParameterUpdate(int component, const QString& parame
  * @param parameterName name of the parameter, as delivered by the system
  * @param value value of the parameter
  */
-void QGCParamWidget::setParameter(int component, QString parameterName, float value)
+void QGCParamWidget::setParameter(int component, QString parameterName, QVariant value)
 {
+    if (paramMin.contains(parameterName) && value.toDouble() < paramMin.value(parameterName))
+    {
+        statusLabel->setText(tr("REJ. %1 < min").arg(value.toDouble()));
+        return;
+    }
+    if (paramMax.contains(parameterName) && value.toDouble() > paramMax.value(parameterName))
+    {
+        statusLabel->setText(tr("REJ. %1 > max").arg(value.toDouble()));
+        return;
+    }
     emit parameterChanged(component, parameterName, value);
     // Wait for parameter to be written back
     // mark it therefore as missing
-    if (!transmissionMissingWriteAckPackets.contains(component)) {
-        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, float>());
+    if (!transmissionMissingWriteAckPackets.contains(component))
+    {
+        transmissionMissingWriteAckPackets.insert(component, new QMap<QString, QVariant>());
     }
 
     // Insert it in missing write ACK list
@@ -848,13 +887,13 @@ void QGCParamWidget::setParameters()
 {
     // Iterate through all components, through all parameters and emit them
     int parametersSent = 0;
-    QMap<int, QMap<QString, float>*>::iterator i;
+    QMap<int, QMap<QString, QVariant>*>::iterator i;
     for (i = changedValues.begin(); i != changedValues.end(); ++i) {
         // Iterate through the parameters of the component
         int compid = i.key();
-        QMap<QString, float>* comp = i.value();
+        QMap<QString, QVariant>* comp = i.value();
         {
-            QMap<QString, float>::iterator j;
+            QMap<QString, QVariant>::iterator j;
             for (j = comp->begin(); j != comp->end(); ++j) {
                 setParameter(compid, j.key(), j.value());
                 parametersSent++;

src/ui/QGCParamWidget.h

@@ -52,22 +52,22 @@ public:
     UASInterface* getUAS();
 signals:
     /** @brief A parameter was changed in the widget, NOT onboard */
-    void parameterChanged(int component, QString parametername, float value);
+    void parameterChanged(int component, QString parametername, QVariant value);
     /** @brief Request a single parameter */
     void requestParameter(int component, int parameter);
 public slots:
     /** @brief Add a component to the list */
     void addComponent(int uas, int component, QString componentName);
     /** @brief Add a parameter to the list with retransmission / safety checks */
-    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value);
+    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
     /** @brief Add a parameter to the list */
-    void addParameter(int uas, int component, QString parameterName, float value);
+    void addParameter(int uas, int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
     void requestParameterList();
     /** @brief Request one single parameter */
     void requestParameterUpdate(int component, const QString& parameter);
     /** @brief Set one parameter, changes value in RAM of MAV */
-    void setParameter(int component, QString parameterName, float value);
+    void setParameter(int component, QString parameterName, QVariant value);
     /** @brief Set all parameters, changes the value in RAM of MAV */
     void setParameters();
     /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
@@ -96,9 +96,9 @@ protected:
     // Tooltip data structures
     QMap<QString, QString> paramToolTips; ///< Tooltip values
     // Min / Default / Max data structures
-    QMap<QString, float> paramMin; ///< Minimum param values
-    QMap<QString, float> paramDefault; ///< Default param values
-    QMap<QString, float> paramMax; ///< Minimum param values
+    QMap<QString, double> paramMin; ///< Minimum param values
+    QMap<QString, double> paramDefault; ///< Default param values
+    QMap<QString, double> paramMax; ///< Minimum param values
 
     /** @brief Activate / deactivate parameter retransmission */
     void setRetransmissionGuardEnabled(bool enabled);

src/ui/uas/UASControlWidget.cc

@@ -69,7 +69,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
 {
     if (this->uas != 0) {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
-        disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(enable_motors()));
+        disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
         disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
         disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));