Merge pull request #2395 from pritamghanghas/apm_metadata

Apm metadata

qgcresources.qrc

@@ -209,4 +209,7 @@
         <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
     </qresource>
 
+    <qresource prefix="/FirmwarePlugin/APM">
+        <file alias="apm.pdef.xml">src/FirmwarePlugin/APM/apm.pdef.xml</file>
+    </qresource>
 </RCC>

src/FactSystem/FactMetaData.cc

@@ -121,7 +121,9 @@ void FactMetaData::setMin(const QVariant& min)
         _min = min;
         _minIsDefaultForType = false;
     } else {
-        qWarning() << "Attempt to set min below allowable value";
+        qWarning() << "Attempt to set min below allowable value for fact: " << name()
+                   << ", value attempted: " << min
+                   << ", type: " << type() << ", min for type: " << _minForType();
         _min = _minForType();
     }
 }
@@ -189,7 +191,7 @@ QVariant FactMetaData::_maxForType(void) const
 
 bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, QVariant& typedValue, QString& errorString)
 {
-    bool convertOk;
+    bool convertOk = false;
     
     errorString.clear();
     
@@ -236,7 +238,7 @@ bool FactMetaData::convertAndValidate(const QVariant& value, bool convertOnly, Q
     }
     
     if (!convertOk) {
-        errorString = "Invalid number";
+        errorString += "Invalid number";
     }
     
     return convertOk && errorString.isEmpty();

src/FactSystem/ParameterLoader.cc

@@ -254,7 +254,7 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
     fact->_containerSetRawValue(value);
 
     if (setMetaData) {
-        _vehicle->firmwarePlugin()->addMetaDataToFact(fact);
+        _vehicle->firmwarePlugin()->addMetaDataToFact(fact, _vehicle->vehicleType());
     }
 
     _dataMutex.unlock();

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -405,11 +405,12 @@ bool APMFirmwarePlugin::sendHomePositionToVehicle(void)
     return true;
 }
 
-void APMFirmwarePlugin::addMetaDataToFact(Fact* fact)
+void APMFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact);
+    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
 }
 
+
 QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
 {
     QList<MAV_CMD> list;

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -89,7 +89,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -36,7 +36,7 @@
 QGC_LOGGING_CATEGORY(APMParameterMetaDataLog, "APMParameterMetaDataLog")
 
 bool                                          APMParameterMetaData::_parameterMetaDataLoaded = false;
-QMap<QString, FactMetaData*>    APMParameterMetaData::_mapParameterName2FactMetaData;
+QMap<QString, ParameterNametoFactMetaDataMap> APMParameterMetaData::_vehicleTypeToParametersMap;
 
 APMParameterMetaData::APMParameterMetaData(QObject* parent) :
     QObject(parent)
@@ -49,7 +49,8 @@ APMParameterMetaData::APMParameterMetaData(QObject* parent) :
 ///     @param type Type for Fact which dictates the QVariant type as well
 ///     @param convertOk Returned: true: conversion success, false: conversion failure
 /// @return Returns the correctly type QVariant
-QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk)
+QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string,
+                                                     FactMetaData::ValueType_t type, bool* convertOk)
 {
     QVariant var(string);
 
@@ -78,29 +79,388 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string, Fact
     return var;
 }
 
+QString APMParameterMetaData::mavTypeToString(MAV_TYPE vehicleTypeEnum)
+{
+    QString vehicleName;
+
+    switch(vehicleTypeEnum) {
+        case MAV_TYPE_FIXED_WING:
+            vehicleName = "ArduPlane";
+            break;
+        case MAV_TYPE_QUADROTOR:
+        case MAV_TYPE_COAXIAL:
+        case MAV_TYPE_HELICOPTER:
+        case MAV_TYPE_SUBMARINE:
+        case MAV_TYPE_HEXAROTOR:
+        case MAV_TYPE_OCTOROTOR:
+        case MAV_TYPE_TRICOPTER:
+            vehicleName = "ArduCopter";
+            break;
+        case MAV_TYPE_ANTENNA_TRACKER:
+            vehicleName = "Antenna Tracker";
+        case MAV_TYPE_GENERIC:
+        case MAV_TYPE_GCS:
+        case MAV_TYPE_AIRSHIP:
+        case MAV_TYPE_FREE_BALLOON:
+        case MAV_TYPE_ROCKET:
+            break;
+        case MAV_TYPE_GROUND_ROVER:
+        case MAV_TYPE_SURFACE_BOAT:
+            vehicleName = "ArduRover";
+            break;
+        case MAV_TYPE_FLAPPING_WING:
+        case MAV_TYPE_KITE:
+        case MAV_TYPE_ONBOARD_CONTROLLER:
+        case MAV_TYPE_VTOL_DUOROTOR:
+        case MAV_TYPE_VTOL_QUADROTOR:
+        case MAV_TYPE_VTOL_TILTROTOR:
+        case MAV_TYPE_VTOL_RESERVED2:
+        case MAV_TYPE_VTOL_RESERVED3:
+        case MAV_TYPE_VTOL_RESERVED4:
+        case MAV_TYPE_VTOL_RESERVED5:
+        case MAV_TYPE_GIMBAL:
+        case MAV_TYPE_ENUM_END:
+        default:
+            break;
+    }
+    return vehicleName;
+}
+
 /// Load Parameter Fact meta data
 ///
 /// The meta data comes from firmware parameters.xml file.
-void APMParameterMetaData::_loadParameterFactMetaData(void)
+void APMParameterMetaData::_loadParameterFactMetaData()
 {
     if (_parameterMetaDataLoaded) {
         return;
     }
     _parameterMetaDataLoaded = true;
 
-    // FIXME: NYI
+    QRegExp parameterCategories = QRegExp("ArduCopter|ArduPlane|APMrover2|AntennaTracker");
+    QString currentCategory;
+
+    QString parameterFilename;
+
+    // Fixme:: always picking up the bundled xml, we would like to update it from web
+    // just not sure right now as the xml is in bad shape.
+    if (parameterFilename.isEmpty() || !QFile(parameterFilename).exists()) {
+        parameterFilename = ":/FirmwarePlugin/APM/apm.pdef.xml";
+    }
+
+    qCDebug(APMParameterMetaDataLog) << "Loading parameter meta data:" << parameterFilename;
+
+    QFile xmlFile(parameterFilename);
+    Q_ASSERT(xmlFile.exists());
+
+    bool success = xmlFile.open(QIODevice::ReadOnly);
+    Q_UNUSED(success);
+    Q_ASSERT(success);
+
+    QXmlStreamReader xml(xmlFile.readAll());
+    xmlFile.close();
+    if (xml.hasError()) {
+        qCWarning(APMParameterMetaDataLog) << "Badly formed XML, reading failed: " << xml.errorString();
+        return;
+    }
+
+    QString             errorString;
+    bool                badMetaData = true;
+    QStack<int>         xmlState;
+    APMFactMetaDataRaw* rawMetaData = NULL;
 
-    // Static meta data should load all MAV_TYPEs from single meta data file in such a way that the loader
-    // has multiple sets of static meta data
+    xmlState.push(XmlStateNone);
+
+    QMap<QString,QStringList> groupMembers; //used to remove groups with single item
+
+    while (!xml.atEnd()) {
+        if (xml.isStartElement()) {
+            QString elementName = xml.name().toString();
+
+            if (elementName.isEmpty()) {
+                // skip empty elements
+            } else if (elementName == "paramfile") {
+                if (xmlState.top() != XmlStateNone) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, paramfile matched";
+                }
+                xmlState.push(XmlstateParamFileFound);
+                // we don't really do anything with this element
+            } else if (elementName == "vehicles") {
+                if (xmlState.top() != XmlstateParamFileFound) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, vehicles matched";
+                    return;
+                }
+                xmlState.push(XmlStateFoundVehicles);
+            } else if (elementName == "libraries") {
+                if (xmlState.top() != XmlstateParamFileFound) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, libraries matched";
+                    return;
+                }
+                currentCategory = "libraries";
+                xmlState.push(XmlStateFoundLibraries);
+            } else if (elementName == "parameters") {
+                if (xmlState.top() != XmlStateFoundVehicles && xmlState.top() != XmlStateFoundLibraries) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, parameters matched"
+                                                       << "but we don't have proper vehicle or libraries yet";
+                    return;
+                }
+
+                if (xml.attributes().hasAttribute("name")) {
+                    // we will handle metadata only for specific MAV_TYPEs and libraries
+                    const QString nameValue = xml.attributes().value("name").toString();
+                    if (nameValue.contains(parameterCategories)) {
+                        xmlState.push(XmlStateFoundParameters);
+                        currentCategory = nameValue;
+                    } else if(xmlState.top() == XmlStateFoundLibraries) {
+                        // we handle all libraries section under the same category libraries
+                        // so not setting currentCategory
+                        xmlState.push(XmlStateFoundParameters);
+                    } else {
+                        qCDebug(APMParameterMetaDataLog) << "not interested in this block of parameters skip";
+                        if (skipXMLBlock(xml, "parameters")) {
+                            qCWarning(APMParameterMetaDataLog) << "something wrong with the xml, skip of the xml failed";
+                            return;
+                        }
+                        xml.readNext();
+                        continue;
+                    }
+                }
+            }  else if (elementName == "param") {
+                if (xmlState.top() != XmlStateFoundParameters) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, element param matched"
+                                                       << "while we are not yet in parameters";
+                    return;
+                }
+                xmlState.push(XmlStateFoundParameter);
+
+                if (!xml.attributes().hasAttribute("name")) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, parameter attribute name missing";
+                    return;
+                }
+
+                QString name = xml.attributes().value("name").toString();
+                if (name.contains(':')) {
+                    name = name.split(':').last();
+                }
+                QString group = name.split('_').first();
+                group = group.remove(QRegExp("[0-9]*$")); // remove any numbers from the end
+
+                QString shortDescription = xml.attributes().value("humanName").toString();
+                QString longDescription = xml.attributes().value("docmentation").toString();
+                QString userLevel = xml.attributes().value("user").toString();
+
+                qCDebug(APMParameterMetaDataLog) << "Found parameter name:" << name
+                          << "short Desc:" << shortDescription
+                          << "longDescription:" << longDescription
+                          << "user level: " << userLevel
+                          << "group: " << group;
+
+                Q_ASSERT(!rawMetaData);
+                rawMetaData = new APMFactMetaDataRaw();
+                if (_vehicleTypeToParametersMap[currentCategory].contains(name)) {
+                    // We can't trust the meta dafa since we have dups
+                    qCWarning(APMParameterMetaDataLog) << "Duplicate parameter found:" << name;
+                    badMetaData = true;
+                } else {
+                    qCDebug(APMParameterMetaDataLog) << "inserting metadata for field" << name;
+                    _vehicleTypeToParametersMap[currentCategory][name] = rawMetaData;
+                    rawMetaData->name = name;
+                    rawMetaData->group = group;
+                    rawMetaData->shortDescription = shortDescription;
+                    rawMetaData->longDescription = longDescription;
+
+                    groupMembers[group] << name;
+                }
+
+            } else {
+                // We should be getting meta data now
+                if (xmlState.top() != XmlStateFoundParameter) {
+                    qCWarning(APMParameterMetaDataLog) << "Badly formed XML, while reading parameter fields wrong state";
+                    return;
+                }
+                if (!badMetaData) {
+                    if (!parseParameterAttributes(xml, rawMetaData)) {
+                        qCDebug(APMParameterMetaDataLog) << "Badly formed XML, failed to read parameter attributes";
+                        return;
+                    }
+                    continue;
+                }
+            }
+        } else if (xml.isEndElement()) {
+            QString elementName = xml.name().toString();
+
+            if (elementName == "param" && xmlState.top() == XmlStateFoundParameter) {
+                // Done loading this parameter
+                // Reset for next parameter
+                qCDebug(APMParameterMetaDataLog) << "done loading parameter";
+                rawMetaData = NULL;
+                badMetaData = false;
+                xmlState.pop();
+            } else if (elementName == "parameters") {
+                qCDebug(APMParameterMetaDataLog) << "end of parameters for category: " << currentCategory;
+                correctGroupMemberships(_vehicleTypeToParametersMap[currentCategory], groupMembers);
+                groupMembers.clear();
+                xmlState.pop();
+            } else if (elementName == "vehicles") {
+                qCDebug(APMParameterMetaDataLog) << "vehicles end here, libraries will follow";
+                xmlState.pop();
+            }
+        }
+        xml.readNext();
+    }
+}
+
+void APMParameterMetaData::correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap,
+                                                   QMap<QString,QStringList>& groupMembers)
+{
+    foreach(const QString& groupName, groupMembers.keys()) {
+            if (groupMembers[groupName].count() == 1) {
+                foreach(const QString& parameter, groupMembers.value(groupName)) {
+                    parameterToFactMetaDataMap[parameter]->group = "others";
+                }
+            }
+        }
+}
+
+bool APMParameterMetaData::skipXMLBlock(QXmlStreamReader& xml, const QString& blockName)
+{
+    QString elementName;
+    do {
+        xml.readNext();
+        elementName = xml.name().toString();
+    } while ((elementName != blockName) && (xml.isEndElement()));
+    return !xml.isEndDocument();
+}
+
+bool APMParameterMetaData::parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw* rawMetaData)
+{
+    QString elementName = xml.name().toString();
+    QList<QPair<QString,QString> > values;
+    // as long as param doens't end
+    while (!(elementName == "param" && xml.isEndElement())) {
+        if (elementName.isEmpty()) {
+            // skip empty elements. Somehow I am getting lot of these. Dont know what to do with them.
+        } else if (elementName == "field") {
+            QString attributeName = xml.attributes().value("name").toString();
+            if ( attributeName == "Range") {
+                QString range = xml.readElementText().trimmed();
+                QStringList rangeList = range.split(' ');
+                if (rangeList.count() != 2) {
+                    qCDebug(APMParameterMetaDataLog) << "space seperator didn't work',trying 'to' separator";
+                    rangeList = range.split("to");
+                    if (rangeList.count() != 2) {
+                        qCDebug(APMParameterMetaDataLog) << " 'to' seperaator didn't work', trying '-' as seperator";
+                        rangeList = range.split('-');
+                        if (rangeList.count() != 2) {
+                            qCDebug(APMParameterMetaDataLog) << "something wrong with range, all three separators have failed" << range;
+                        }
+                    }
+                }
+
+                // everything should be good. lets collect min and max
+                if (rangeList.count() == 2) {
+                    rawMetaData->min = rangeList.first().trimmed();
+                    rawMetaData->max = rangeList.last().trimmed();
+
+                    // sanitize min and max off any comments that they may have
+                    if (rawMetaData->min.contains(' ')) {
+                        rawMetaData->min = rawMetaData->min.split(' ').first();
+                    }
+                    if(rawMetaData->max.contains(' ')) {
+                        rawMetaData->max = rawMetaData->max.split(' ').first();
+                    }
+                    qCDebug(APMParameterMetaDataLog) << "read field parameter " << "min: " << rawMetaData->min
+                                                     << "max: " << rawMetaData->max;
+                }
+            } else if (attributeName == "Increment") {
+                QString increment = xml.readElementText();
+                qCDebug(APMParameterMetaDataLog) << "read Increment: " << increment;
+                rawMetaData->incrementSize = increment;
+            } else if (attributeName == "Units") {
+                QString units = xml.readElementText();
+                qCDebug(APMParameterMetaDataLog) << "read Units: " << units;
+                rawMetaData->units = units;
+            }
+        } else if (elementName == "values") {
+            // doing nothing individual value will follow anyway. May be used for sanity checking.
+        } else if (elementName == "value") {
+            QString valueValue = xml.attributes().value("code").toString();
+            QString valueName = xml.readElementText();
+            qCDebug(APMParameterMetaDataLog) << "read value parameter " << "value desc: "
+                                             << valueName << "code: " << valueValue;
+            values << QPair<QString,QString>(valueValue, valueName);
+            rawMetaData->values = values;
+        } else {
+            qCWarning(APMParameterMetaDataLog) << "Unknown parameter element in XML: " << elementName;
+        }
+        xml.readNext();
+        elementName = xml.name().toString();
+    }
+    return true;
 }
 
 /// Override from FactLoad which connects the meta data to the fact
-void APMParameterMetaData::addMetaDataToFact(Fact* fact)
+void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
     _loadParameterFactMetaData();
 
-    // FIXME: Will need to switch here based on _vehicle->firmwareType() to pull right set of meta data
+    const QString mavTypeString = mavTypeToString(vehicleType);
+    APMFactMetaDataRaw* rawMetaData = NULL;
+
+    // check if we have metadata for fact, use generic otherwise
+    if (_vehicleTypeToParametersMap[mavTypeString].contains(fact->name())) {
+        rawMetaData = _vehicleTypeToParametersMap[mavTypeString][fact->name()];
+    } else if (_vehicleTypeToParametersMap["libraries"].contains(fact->name())) {
+        rawMetaData = _vehicleTypeToParametersMap["libraries"][fact->name()];
+    }
+
+    FactMetaData *metaData = new FactMetaData(fact->type(), fact);
+
+    // we don't have data for this fact
+    if (!rawMetaData) {
+        fact->setMetaData(metaData);
+        qCDebug(APMParameterMetaDataLog) << "No metaData for " << fact->name() << "using generic metadata";
+        return;
+    }
+
+    metaData->setName(rawMetaData->name);
+    metaData->setGroup(rawMetaData->group);
+
+    if (!rawMetaData->shortDescription.isEmpty()) {
+        metaData->setShortDescription(rawMetaData->shortDescription);
+    }
+
+    if (!rawMetaData->longDescription.isEmpty()) {
+        metaData->setLongDescription(rawMetaData->longDescription);
+    }
+
+    if (!rawMetaData->units.isEmpty()) {
+        metaData->setUnits(rawMetaData->units);
+    }
+
+    if (!rawMetaData->min.isEmpty()) {
+        QVariant varMin;
+        QString errorString;
+        if (metaData->convertAndValidate(rawMetaData->min, false /* validate as well */, varMin, errorString)) {
+            metaData->setMin(varMin);
+        } else {
+            qCDebug(APMParameterMetaDataLog) << "Invalid min value, name:" << metaData->name()
+                                             << " type:" << metaData->type() << " min:" << rawMetaData->min
+                                             << " error:" << errorString;
+        }
+    }
+
+    if (!rawMetaData->max.isEmpty()) {
+        QVariant varMax;
+        QString errorString;
+        if (metaData->convertAndValidate(rawMetaData->max, false /* validate as well */, varMax, errorString)) {
+            metaData->setMax(varMax);
+        } else {
+            qCDebug(APMParameterMetaDataLog) << "Invalid max value, name:" << metaData->name() << " type:"
+                                             << metaData->type() << " max:" << rawMetaData->max
+                                             << " error:" << errorString;
+        }
+    }
 
-    FactMetaData* metaData = new FactMetaData(fact->type(), fact);
+    // FixMe:: not handling values and increment size as their is no place for them in FactMetaData and no ui
     fact->setMetaData(metaData);
 }

src/FirmwarePlugin/APM/APMParameterMetaData.h

@@ -26,6 +26,7 @@
 
 #include <QObject>
 #include <QMap>
+#include <QPointer>
 #include <QXmlStreamReader>
 #include <QLoggingCategory>
 
@@ -33,6 +34,20 @@
 #include "AutoPilotPlugin.h"
 #include "Vehicle.h"
 
+class APMFactMetaDataRaw
+{
+public:
+    QString                  name;
+    QString                  group;
+    QString                  shortDescription;
+    QString                  longDescription;
+    QString                  min;
+    QString                  max;
+    QString                  incrementSize;
+    QString                  units;
+    QList<QPair<QString, QString> > values;
+};
+
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
@@ -40,6 +55,8 @@ Q_DECLARE_LOGGING_CATEGORY(APMParameterMetaDataLog)
 
 /// Collection of Parameter Facts for PX4 AutoPilot
 
+typedef QMap<QString, APMFactMetaDataRaw*> ParameterNametoFactMetaDataMap;
+
 class APMParameterMetaData : public QObject
 {
     Q_OBJECT
@@ -52,11 +69,15 @@ public:
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYSID_SW_TYPE"); }    
     
     // Overrides from ParameterLoader
-    static void addMetaDataToFact(Fact* fact);
+    static void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
+    static void addMetaDataToFacts(QVariantMap &facts, MAV_TYPE vehicleType);
 
 private:
     enum {
         XmlStateNone,
+        XmlstateParamFileFound,
+        XmlStateFoundVehicles,
+        XmlStateFoundLibraries,
         XmlStateFoundParameters,
         XmlStateFoundVersion,
         XmlStateFoundGroup,
@@ -65,11 +86,15 @@ private:
     };
     
 
-    static void _loadParameterFactMetaData(void);
+    static void _loadParameterFactMetaData();
     static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool* convertOk);
+    static bool skipXMLBlock(QXmlStreamReader& xml, const QString& blockName);
+    static bool parseParameterAttributes(QXmlStreamReader& xml, APMFactMetaDataRaw *rawMetaData);
+    static void correctGroupMemberships(ParameterNametoFactMetaDataMap& parameterToFactMetaDataMap, QMap<QString,QStringList>& groupMembers);
+    static QString mavTypeToString(MAV_TYPE vehicleTypeEnum);
 
     static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
+    static QMap<QString, ParameterNametoFactMetaDataMap> _vehicleTypeToParametersMap; ///< Maps from a vehicle type to paramametertoFactMeta map>
 };
 
 #endif

src/FirmwarePlugin/FirmwarePlugin.h

@@ -79,7 +79,7 @@ public:
     ///     @param[out] custom_mode Custom mode for SET_MODE mavlink message
     virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) = 0;
     
-    /// FIXME: This isn't quite correct being here. All code for Joystick support is currently firmware specific
+    /// FIXME: This isn't quite correct being here. All code for Joystick suvehicleTypepport is currently firmware specific
     /// not just this. I'm going to try to change that. If not, this will need to be removed.
     /// Returns the number of buttons which are reserved for firmware use in the MANUAL_CONTROL mavlink
     /// message. For example PX4 Flight Stack reserves the first 8 buttons to simulate rc switches.
@@ -108,7 +108,7 @@ public:
     virtual QString getDefaultComponentIdParam(void) const = 0;
 
     /// Adds the parameter meta data to the Fact
-    virtual void addMetaDataToFact(Fact* fact) = 0;
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType) = 0;
 
     /// List of supported mission commands. Empty list for all commands supported.
     virtual QList<MAV_CMD> supportedMissionCommands(void) = 0;

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc

@@ -112,8 +112,10 @@ bool GenericFirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact)
+void GenericFirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
+    Q_UNUSED(vehicleType)
+
     // Add default meta data
     FactMetaData* metaData = new FactMetaData(fact->type(), fact);
     fact->setMetaData(metaData);

src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h

@@ -45,7 +45,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString(); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 };

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -203,9 +203,9 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
     return false;
 }
 
-void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact)
+void PX4FirmwarePlugin::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
-    _parameterMetaData.addMetaDataToFact(fact);
+    _parameterMetaData.addMetaDataToFact(fact, vehicleType);
 }
 
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -45,7 +45,7 @@ public:
     virtual void adjustMavlinkMessage(mavlink_message_t* message);
     virtual void initializeVehicle(Vehicle* vehicle);
     virtual bool sendHomePositionToVehicle(void);
-    virtual void addMetaDataToFact(Fact* fact);
+    virtual void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
     virtual QString getDefaultComponentIdParam(void) const { return QString("SYS_AUTOSTART"); }
     virtual QList<MAV_CMD> supportedMissionCommands(void);
 

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -345,8 +345,10 @@ void PX4ParameterMetaData::_loadParameterFactMetaData(void)
 }
 
 /// Override from FactLoad which connects the meta data to the fact
-void PX4ParameterMetaData::addMetaDataToFact(Fact* fact)
+void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
+    Q_UNUSED(vehicleType)
+
     _loadParameterFactMetaData();
     if (_mapParameterName2FactMetaData.contains(fact->name())) {
         fact->setMetaData(_mapParameterName2FactMetaData[fact->name()]);

src/FirmwarePlugin/PX4/PX4ParameterMetaData.h

@@ -47,7 +47,7 @@ class PX4ParameterMetaData : public QObject
 public:
     PX4ParameterMetaData(QObject* parent = NULL);
 
-    void addMetaDataToFact(Fact* fact);
+    void addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType);
 
 private:
     enum {