Flight fixes

src/uas/UAS.cc

@@ -1459,6 +1459,7 @@ void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
     sendMessage(msg);
 }
 
@@ -1492,7 +1493,6 @@ void UAS::enableAllDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRawSensorDataTransmission(int rate)
@@ -1514,7 +1514,6 @@ void UAS::enableRawSensorDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtendedSystemStatusTransmission(int rate)
@@ -1536,7 +1535,6 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRCChannelDataTransmission(int rate)
@@ -1562,7 +1560,6 @@ void UAS::enableRCChannelDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 #endif
 }
 
@@ -1585,7 +1582,6 @@ void UAS::enableRawControllerDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 //void UAS::enableRawSensorFusionTransmission(int rate)
@@ -1629,7 +1625,6 @@ void UAS::enablePositionTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtra1Transmission(int rate)
@@ -2122,7 +2117,7 @@ void UAS::shutdown()
     {
         // If the active UAS is set, execute command
         mavlink_message_t msg;
-        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, 2, 0, 0, 0, 0, 0, 0);
+        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 2, 0, 0, 0, 0, 0);
         sendMessage(msg);
         result = true;
     }
@@ -2165,33 +2160,34 @@ QString UAS::getShortModeTextFor(int id)
     qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_AUTO)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
     {
-        mode = "AUTO";
+        mode += "AUTO";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
     {
-        mode = "GUIDED";
+        mode += "GUIDED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
     {
-        mode = "STABILIZED";
+        mode += "STABILIZED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_TEST)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
     {
-        mode = "TEST";
+        mode += "TEST";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
     {
-        mode = "MANUAL";
+        mode += "MANUAL";
     }
-    else
+
+    if (modeid == 0)
     {
         mode = "PREFLIGHT";
     }
 
     // ARMED STATE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
     {
         mode.prepend("A|");
     }
@@ -2201,7 +2197,7 @@ QString UAS::getShortModeTextFor(int id)
     }
 
     // HARDWARE IN THE LOOP DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_HIL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
     {
         mode.prepend("HIL:");
     }

src/ui/QGCParamWidget.cc

@@ -707,15 +707,15 @@ void QGCParamWidget::saveParameters()
                 {
                 case QVariant::Int:
                     paramValue = paramValue.arg(j.value().toInt());
-                    paramType.arg(MAVLINK_TYPE_INT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_INT32_T);
                     break;
                 case QVariant::UInt:
                     paramValue = paramValue.arg(j.value().toUInt());
-                    paramType.arg(MAVLINK_TYPE_UINT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_UINT32_T);
                     break;
                 case QMetaType::Float:
                     paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
-                    paramType.arg(MAVLINK_TYPE_FLOAT);
+                    paramType = paramType.arg(MAVLINK_TYPE_FLOAT);
                     break;
                 default:
                     qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();

src/ui/uas/UASControlWidget.cc

@@ -50,12 +50,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     ui.modeComboBox->clear();
-    ui.modeComboBox->insertItem(MAV_MODE_PREFLIGHT, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT));
-    ui.modeComboBox->insertItem(MAV_MODE_STABILIZE_ARMED, UAS::getShortModeTextFor(MAV_MODE_STABILIZE_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_MANUAL_ARMED, UAS::getShortModeTextFor(MAV_MODE_MANUAL_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_GUIDED_DISARMED, UAS::getShortModeTextFor(MAV_MODE_GUIDED_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_AUTO_ARMED, UAS::getShortModeTextFor(MAV_MODE_AUTO_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_TEST_ARMED, UAS::getShortModeTextFor(MAV_MODE_TEST_ARMED));
+    ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT), MAV_MODE_PREFLIGHT);
+    ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
+    ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
+    ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
+    ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
+    ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
 
@@ -157,7 +157,7 @@ void UASControlWidget::updateState(int state)
 void UASControlWidget::setMode(int mode)
 {
     // Adapt context button mode
-    uasMode = mode;
+    uasMode = ui.modeComboBox->itemData(mode).toInt();
     ui.modeComboBox->blockSignals(true);
     ui.modeComboBox->setCurrentIndex(mode);
     ui.modeComboBox->blockSignals(false);