From 3732645d967edd35687a4b05580987b4b95b0e66 Mon Sep 17 00:00:00 2001
From: Mariano Lizarraga <malife@gmail.com>
Date: Sat, 5 Mar 2011 12:21:15 -0600
Subject: [PATCH] Added support for parameter interface to SLUGS

---
 src/uas/SlugsMAV.cc           | 25 +++++++++++++++++++++----
 src/uas/SlugsMAV.h            | 19 +++++++++++++++++++
 src/uas/UASWaypointManager.cc |  2 +-
 src/ui/SlugsDataSensorView.ui |  2 +-
 4 files changed, 42 insertions(+), 6 deletions(-)

diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index 0831479456..7c71867229 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -90,10 +90,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         mavlink_msg_gps_raw_decode(&message, &mlGpsData);
             break;
 
-      case MAVLINK_MSG_ID_ACTION_ACK:      // 62
-        mavlink_msg_action_ack_decode(&message,&mlActionAck);
-            break;
-
       case MAVLINK_MSG_ID_CPU_LOAD:       //170
         mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
             break;
@@ -151,6 +147,27 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
       break;
 
       case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
+         mavlink_msg_slugs_action_decode(&message, &mlAction);
+
+         switch (mlAction.actionId){
+            case SLUGS_ACTION_EEPROM:
+                 if (mlAction.actionVal == SLUGS_ACTION_FAIL){
+                    emit textMessageReceived(message.sysid, message.compid, 255, "EEPROM Write Fail, Data was not saved in Memory!");
+                 }
+            break;
+
+            case SLUGS_ACTION_PT_CHANGE:
+                if (mlAction.actionVal == SLUGS_ACTION_SUCCESS){
+                   emit textMessageReceived(message.sysid, message.compid, 0, "Passthrough Succesfully Changed");
+                }
+            break;
+
+            case SLUGS_ACTION_MLC_CHANGE:
+                if (mlAction.actionVal == SLUGS_ACTION_SUCCESS){
+                   emit textMessageReceived(message.sysid, message.compid, 0, "Mid-level Commands Succesfully Changed");
+                }
+            break;
+         }// switch actionId
 
       break;
 
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index 99669fdaa5..28d0a1b6bd 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -33,6 +33,25 @@ class SlugsMAV : public UAS
 {
     Q_OBJECT
     Q_INTERFACES(UASInterface)
+
+    enum SLUGS_ACTION {
+        SLUGS_ACTION_NONE,
+        SLUGS_ACTION_SUCCESS,
+        SLUGS_ACTION_FAIL,
+        SLUGS_ACTION_EEPROM,
+        SLUGS_ACTION_MODE_CHANGE,
+        SLUGS_ACTION_MODE_REPORT,
+        SLUGS_ACTION_PT_CHANGE,
+        SLUGS_ACTION_PT_REPORT,
+        SLUGS_ACTION_PID_CHANGE,
+        SLUGS_ACTION_PID_REPORT,
+        SLUGS_ACTION_WP_CHANGE,
+        SLUGS_ACTION_WP_REPORT,
+        SLUGS_ACTION_MLC_CHANGE,
+        SLUGS_ACTION_MLC_REPORT
+    };
+
+
 public:
     SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
 
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 15a5adc3bf..d9a0ed3092 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -138,7 +138,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id)
         {
-            //qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_CMD) wp->command;
+            //qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command;
             Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
             addWaypoint(lwp, false);
 
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index 41bff8ec5e..577964de46 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -35,7 +35,7 @@
    <item row="0" column="0">
     <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">
-- 
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