Perform translation between QGC Fact data type and mavlink param type

src/FactSystem/ParameterLoader.cc

@@ -602,6 +602,42 @@ void ParameterLoader::_writeLocalParamCache()
     ds << cache_map;
 }
 
+static MAV_PARAM_TYPE factType2MavParamType(int factType)
+{
+    MAV_PARAM_TYPE paramType;
+    switch (factType) {
+        case FactMetaData::valueTypeUint8:
+            paramType = MAV_PARAM_TYPE_UINT8;
+            break;
+        case FactMetaData::valueTypeInt8:
+            paramType =  MAV_PARAM_TYPE_INT8;
+            break;
+        case FactMetaData::valueTypeUint16:
+            paramType = MAV_PARAM_TYPE_UINT16;
+            break;
+        case FactMetaData::valueTypeInt16:
+            paramType = MAV_PARAM_TYPE_INT16;
+            break;
+        case FactMetaData::valueTypeUint32:
+            paramType = MAV_PARAM_TYPE_UINT32;
+            break;
+        case FactMetaData::valueTypeInt32:
+            paramType = MAV_PARAM_TYPE_INT32;
+            break;
+        case FactMetaData::valueTypeFloat:
+            paramType = MAV_PARAM_TYPE_REAL32;
+            break;
+        case FactMetaData::valueTypeDouble:
+            paramType = MAV_PARAM_TYPE_REAL64;
+            break;
+        default:
+            paramType = MAV_PARAM_TYPE_INT32;
+            qCritical() << "Unsupported fact type" << factType;
+            break;
+    }
+    return paramType;
+}
+
 void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value)
 {
     uint32_t crc32_value = 0;
@@ -637,7 +673,7 @@ void ParameterLoader::_tryCacheHashLoad(int uasId, QVariant hash_value)
             foreach(int id, cache_map[component].keys()) {
                 const QString &name = cache_map[component][id].first;
                 const QVariant &value = cache_map[component][id].second.second;
-                const int mavType = cache_map[component][id].second.first;
+                const int mavType = factType2MavParamType(cache_map[component][id].second.first);
                 _parameterUpdate(uasId, component, name, count, id, mavType, value);
             }
         }