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Commit 594429ee authored by Lorenz Meier's avatar Lorenz Meier
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Revert "remove duplicate code " 

This reverts commit 80f4f133.
parent 55b29141
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src/uas/UAS.cc
View file @ 594429ee
...@@ -2552,76 +2552,125 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, ...@@ -2552,76 +2552,125 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>()); parameters.insert(compId, new QMap<QString, QVariant>());
} }
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param; QVariant param;
// Insert with correct type // Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling. // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type) { switch (rawValue.param_type)
case MAV_PARAM_TYPE_REAL32: {
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { case MAV_PARAM_TYPE_REAL32:
param = QVariant(paramValue.param_float); {
} else { if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float); param = QVariant(paramValue.param_float);
} }
break; else {
case MAV_PARAM_TYPE_UINT8: param = QVariant(paramValue.param_float);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { }
param = QVariant(QChar((unsigned char)paramValue.param_float)); parameters.value(compId)->insert(paramName, param);
} else { // Emit change
param = QVariant(QChar((quint8)paramValue.param_float)); emit parameterChanged(uasId, compId, paramName, param);
} emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
break; // qDebug() << "RECEIVED PARAM:" << param;
case MAV_PARAM_TYPE_INT8: }
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { break;
param = QVariant(QChar((char)paramValue.param_float)); case MAV_PARAM_TYPE_UINT8:
} else { {
param = QVariant(QChar((qint8)paramValue.param_float)); if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
} param = QVariant(QChar((unsigned char)paramValue.param_float));
break; }
case MAV_PARAM_TYPE_INT16: else {
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { param = QVariant(QChar((quint8)paramValue.param_float));
param = QVariant((short)paramValue.param_float); }
} else { parameters.value(compId)->insert(paramName, param);
param = QVariant((qint16)paramValue.param_float); // Emit change
} emit parameterChanged(uasId, compId, paramName, param);
break; emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
case MAV_PARAM_TYPE_UINT16: //qDebug() << "RECEIVED PARAM:" << param;
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { }
param = QVariant((unsigned short)paramValue.param_float); break;
} else { case MAV_PARAM_TYPE_INT8:
param = QVariant((quint16)paramValue.param_float); {
} if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
break; param = QVariant(QChar((char)paramValue.param_float));
case MAV_PARAM_TYPE_UINT32: }
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { else {
param = QVariant((unsigned int)paramValue.param_float); param = QVariant(QChar((qint8)paramValue.param_float));
} else { }
param = QVariant((quint32)paramValue.param_float); parameters.value(compId)->insert(paramName, param);
} // Emit change
break; emit parameterChanged(uasId, compId, paramName, param);
case MAV_PARAM_TYPE_INT32: emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { //qDebug() << "RECEIVED PARAM:" << param;
param = QVariant((int)paramValue.param_float); }
} else { break;
param = QVariant((qint32)paramValue.param_float); case MAV_PARAM_TYPE_INT16:
} {
break; if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
default: param = QVariant((short)paramValue.param_float);
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type; }
return; else {
param = QVariant((qint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
}
else {
param = QVariant((quint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant((quint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant((qint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
} //switch (value.param_type) } //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
} }
/** /**
......
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