From 136ffa8e88a456100529c3515d9795782125fff9 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sat, 16 Feb 2019 10:27:44 -0800 Subject: [PATCH] Warn if SYS_HITL is set --- src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc index ca98155a1..adfe990e1 100644 --- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc @@ -134,14 +134,10 @@ void PX4AutoPilotPlugin::parametersReadyPreChecks(void) // Base class must be called AutoPilotPlugin::parametersReadyPreChecks(); - // Check for older parameter version set - // FIXME: Firmware is moving to version stamp parameter set. Once that is complete the version stamp - // should be used instead. - if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "SENS_GYRO_XOFF") || - _vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, "COM_DL_LOSS_EN")) { - _incorrectParameterVersion = true; - qgcApp()->showMessage(tr("This version of GroundControl can only perform vehicle setup on a newer version of firmware. " - "Please perform a Firmware Upgrade if you wish to use Vehicle Setup.")); + QString hitlParam("SYS_HITL"); + if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, hitlParam) && + _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, hitlParam)->rawValue().toBool()) { + qgcApp()->showMessage(tr("Warning: Hardware In The Loop (HITL) simulation is enabled for this vehicle.")); } } -- 2.22.0