qgroundcontrol.pro

@@ -652,6 +652,7 @@ HEADERS += \
     src/QmlControls/QmlObjectListModel.h \
     src/QmlControls/QGCGeoBoundingCube.h \
     src/QmlControls/RCChannelMonitorController.h \
+    src/QmlControls/RCToParamDialogController.h \
     src/QmlControls/ScreenToolsController.h \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
     src/Settings/ADSBVehicleManagerSettings.h \
@@ -857,6 +858,7 @@ SOURCES += \
     src/QmlControls/QmlObjectListModel.cc \
     src/QmlControls/QGCGeoBoundingCube.cc \
     src/QmlControls/RCChannelMonitorController.cc \
+    src/QmlControls/RCToParamDialogController.cc \
     src/QmlControls/ScreenToolsController.cc \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
     src/Settings/ADSBVehicleManagerSettings.cc \

qgroundcontrol.qrc

@@ -159,6 +159,7 @@
         <file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
         <file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
         <file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
+        <file alias="QGroundControl/Controls/RCToParamDialog.qml">src/QmlControls/RCToParamDialog.qml</file>
         <file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
         <file alias="QGroundControl/Controls/SectionHeader.qml">src/QmlControls/SectionHeader.qml</file>
         <file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
@@ -278,6 +279,7 @@
         <file alias="PlanView.SettingsGroup.json">src/Settings/PlanView.SettingsGroup.json</file>
         <file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
         <file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
+        <file alias="RCToParamDialog.FactMetaData.json">src/QmlControls/RCToParamDialog.FactMetaData.json</file>
         <file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
         <file alias="SpeedSection.FactMetaData.json">src/MissionManager/SpeedSection.FactMetaData.json</file>
         <file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>

src/QGCApplication.cc

@@ -101,6 +101,7 @@
 #include "VehicleObjectAvoidance.h"
 #include "TrajectoryPoints.h"
 #include "ValuesWidgetController.h"
+#include "RCToParamDialogController.h"
 
 #if defined(QGC_ENABLE_PAIRING)
 #include "PairingManager.h"
@@ -540,6 +541,7 @@ void QGCApplication::_initCommon()
     qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
     qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
     qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
+    qmlRegisterType<RCToParamDialogController>      (kQGCControllers,                       1, 0, "RCToParamDialogController");
 
 #ifndef __mobile__
 #ifndef NO_SERIAL_LINK

src/QmlControls/ParameterEditor.qml

@@ -28,7 +28,8 @@ Item {
     property int    _rowWidth:          10 // Dynamic adjusted at runtime
     property bool   _searchFilter:      searchText.text.trim() != ""   ///< true: showing results of search
     property var    _searchResults      ///< List of parameter names from search results
-    property bool   _showRCToParam:     !ScreenTools.isMobile && QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
+    property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property bool   _showRCToParam:     _activeVehicle.px4Firmware
     property var    _appSettings:       QGroundControl.settingsManager.appSettings
 
     ParameterEditorController {
@@ -133,8 +134,8 @@ Item {
         }
         QGCMenuSeparator { visible: _showRCToParam }
         QGCMenuItem {
-            text:           qsTr("Clear RC to Param")
-            onTriggered:	controller.clearRCToParam()
+            text:           qsTr("Clear all RC to Param")
+            onTriggered:	_activeVehicle.clearAllParamMapRC()
             visible:        _showRCToParam
         }
         QGCMenuSeparator { }

src/QmlControls/ParameterEditorController.cc

@@ -86,13 +86,6 @@ QStringList ParameterEditorController::searchParameters(const QString& searchTex
     return list;
 }
 
-void ParameterEditorController::clearRCToParam(void)
-{
-    if (_uas) {
-        _uas->unsetRCToParameterMap();
-    }
-}
-
 void ParameterEditorController::saveToFile(const QString& filename)
 {
     if (!filename.isEmpty()) {

src/QmlControls/ParameterEditorController.h

@@ -41,7 +41,6 @@ public:
     Q_INVOKABLE QStringList getGroupsForCategory(const QString& category);
     Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
 
-    Q_INVOKABLE void clearRCToParam(void);
     Q_INVOKABLE void saveToFile(const QString& filename);
     Q_INVOKABLE void loadFromFile(const QString& filename);
     Q_INVOKABLE void refresh(void);

src/QmlControls/ParameterEditorDialog.qml

@@ -10,6 +10,7 @@
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtQuick.Layouts  1.2
+import QtQuick.Dialogs  1.3
 
 import QGroundControl               1.0
 import QGroundControl.Controls      1.0
@@ -125,8 +126,8 @@ QGCViewDialog {
                     Layout.fillWidth:   true
                     focus:              setFocus
                     inputMethodHints:   (fact.typeIsString || ScreenTools.isiOS) ?
-                                          Qt.ImhNone :                // iOS numeric keyboard has no done button, we can't use it
-                                          Qt.ImhFormattedNumbersOnly  // Forces use of virtual numeric keyboard
+                                            Qt.ImhNone :                // iOS numeric keyboard has no done button, we can't use it
+                                            Qt.ImhFormattedNumbersOnly  // Forces use of virtual numeric keyboard
                 }
 
                 QGCButton {
@@ -286,11 +287,19 @@ QGCViewDialog {
             }
 
             QGCButton {
-                text:           qsTr("Set RC to Param...")
-                width:          _editFieldWidth
-                visible:        _advanced.checked && !validate && showRCToParam
-                onClicked:      controller.setRCToParam(fact.name)
+                text:       qsTr("Set RC to Param")
+                width:      _editFieldWidth
+                visible:    _advanced.checked && !validate && showRCToParam
+                onClicked:  mainWindow.showPopupDialog(rcToParamDialog)
             }
         } // Column
     }
+
+    Component {
+        id: rcToParamDialog
+
+        RCToParamDialog {
+            tuningFact: fact
+        }
+    }
 } // QGCViewDialog

src/QmlControls/QGroundControl/Controls/qmldir

@@ -80,6 +80,7 @@ RallyPointEditorHeader  1.0 RallyPointEditorHeader.qml
 RallyPointItemEditor    1.0 RallyPointItemEditor.qml
 RallyPointMapVisuals    1.0 RallyPointMapVisuals.qml
 RCChannelMonitor        1.0 RCChannelMonitor.qml
+RCToParamDialog         1.0 RCToParamDialog.qml
 RoundButton             1.0 RoundButton.qml
 SectionHeader           1.0 SectionHeader.qml
 SetupPage               1.0 SetupPage.qml

src/QmlControls/RCToParamDialog.FactMetaData.json

+[
+{
+    "name":             "Scale",
+    "shortDescription": "Scale the RC range",
+    "type":             "double",
+    "min":              -1,
+    "max":              1,
+    "defaultValue":     1,
+    "decimalPlaces":    1
+},
+{
+    "name":             "CenterValue",
+    "shortDescription": "Parameter value when RC output is 0",
+    "type":             "double",
+    "min":              -180.0,
+    "max":              180.0,
+    "decimalPlaces":    7
+},
+{
+    "name":             "MinValue",
+    "shortDescription": "Minimum parameter value",
+    "type":             "double",
+    "decimalPlaces":    7
+},
+{
+    "name":             "MaxValue",
+    "shortDescription": "Maximum parameter value",
+    "type":             "double",
+    "decimalPlaces":    7
+}
+]

src/QmlControls/RCToParamDialog.qml

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.12
+import QtQuick.Layouts  1.2
+import QtQuick.Controls 2.5
+import QtQuick.Dialogs  1.3
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controllers   1.0
+
+QGCPopupDialog {
+    property alias tuningFact: controller.tuningFact
+
+    title:      qsTr("RC To Param")
+    buttons:    StandardButton.Cancel | StandardButton.Ok
+
+    function accept() {
+        QGroundControl.multiVehicleManager.activeVehicle.sendParamMapRC(tuningFact.name, scale.text, centerValue.text, tuningID.currentIndex, minValue.text, maxValue.text);
+        hideDialog()
+    }
+
+    RCToParamDialogController {
+        id: controller
+    }
+
+    ColumnLayout {
+        spacing: ScreenTools.defaultDialogControlSpacing
+
+        QGCLabel {
+            Layout.preferredWidth:  mainGrid.width
+            Layout.fillWidth:       true
+            wrapMode:               Text.WordWrap
+            text:                   qsTr("Bind an RC Channel to a parameter value. Tuning IDs can be mapped to an RC Channel from Radio Setup page.")
+        }
+
+        QGCLabel {
+            Layout.preferredWidth:  mainGrid.width
+            Layout.fillWidth:       true
+            text:                   qsTr("Waiting on parameter update from Vehicle.")
+            visible:                !controller.ready
+        }
+
+        GridLayout {
+            id:             mainGrid
+            columns:        2
+            rowSpacing:     ScreenTools.defaultDialogControlSpacing
+            columnSpacing:  ScreenTools.defaultDialogControlSpacing
+            enabled:        controller.ready
+
+            QGCLabel { text: qsTr("Parameter") }
+            QGCLabel { text: tuningFact.name }
+
+            QGCLabel { text: qsTr("Tuning ID") }
+            QGCComboBox {
+                id:                 tuningID
+                Layout.fillWidth:   true
+                currentIndex:       0
+                model:              [ 1, 2, 3 ]
+            }
+
+            QGCLabel { text: qsTr("Scale") }
+            QGCTextField {
+                id:     scale
+                text:   controller.scale.valueString
+            }
+
+            QGCLabel { text: qsTr("Center Value") }
+            QGCTextField {
+                id:     centerValue
+                text:   controller.center.valueString
+            }
+
+            QGCLabel { text: qsTr("Min Value") }
+            QGCTextField {
+                id:     minValue
+                text:   controller.min.valueString
+            }
+
+            QGCLabel { text: qsTr("Max Value") }
+            QGCTextField {
+                id:     maxValue
+                text:   controller.max.valueString
+            }
+        }
+
+        QGCLabel {
+            Layout.preferredWidth:  mainGrid.width
+            Layout.fillWidth:       true
+            wrapMode:               Text.WordWrap
+            text:                   qsTr("Double check that all values are correct prior to confirming dialog.")
+        }
+    }
+}

src/QmlControls/RCToParamDialogController.cc

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "RCToParamDialogController.h"
+#include "QGCApplication.h"
+#include "ParameterManager.h"
+
+const char*  RCToParamDialogController::_scaleFactName =    "Scale";
+const char*  RCToParamDialogController::_centerFactName =   "CenterValue";
+const char*  RCToParamDialogController::_minFactName =      "MinValue";
+const char*  RCToParamDialogController::_maxFactName =      "MaxValue";
+
+QMap<QString, FactMetaData*> RCToParamDialogController::_metaDataMap;
+
+RCToParamDialogController::RCToParamDialogController(void)
+    : _scaleFact    (0, _scaleFactName,     FactMetaData::valueTypeDouble)
+    , _centerFact   (0, _centerFactName,    FactMetaData::valueTypeDouble)
+    , _minFact      (0, _minFactName,       FactMetaData::valueTypeDouble)
+    , _maxFact      (0, _maxFactName,       FactMetaData::valueTypeDouble)
+{
+    if (_metaDataMap.isEmpty()) {
+        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/RCToParamDialog.FactMetaData.json"), nullptr /* QObject parent */);
+    }
+
+    _scaleFact.setMetaData  (_metaDataMap[_scaleFactName],  true /* setDefaultFromMetaData */);
+    _centerFact.setMetaData (_metaDataMap[_centerFactName]);
+    _minFact.setMetaData    (_metaDataMap[_minFactName]);
+    _maxFact.setMetaData    (_metaDataMap[_maxFactName]);
+}
+
+void RCToParamDialogController::setTuningFact(Fact* tuningFact)
+{
+    _tuningFact = tuningFact;
+    emit tuningFactChanged(tuningFact);
+
+    _centerFact.setRawValue(_tuningFact->rawValue().toDouble());
+    _minFact.setRawValue(_tuningFact->rawMin().toDouble());
+    _maxFact.setRawValue(_tuningFact->rawMax().toDouble());
+
+    connect(_tuningFact, &Fact::vehicleUpdated, this, &RCToParamDialogController::_parameterUpdated);
+    qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->parameterManager()->refreshParameter(FactSystem::defaultComponentId, _tuningFact->name());
+}
+
+void RCToParamDialogController::_parameterUpdated(void)
+{
+    _ready = true;
+    emit readyChanged(true);
+}

src/QmlControls/RCToParamDialogController.h

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QGeoCoordinate>
+
+#include "FactSystem.h"
+
+class RCToParamDialogController : public QObject
+{
+    Q_OBJECT
+    
+public:
+    RCToParamDialogController(void);
+    
+    Q_PROPERTY(Fact* tuningFact READ tuningFact WRITE setTuningFact NOTIFY tuningFactChanged)
+    Q_PROPERTY(bool  ready      MEMBER _ready                       NOTIFY readyChanged)        // true: editing can begin, false: still waiting for param update from vehicle
+    Q_PROPERTY(Fact* scale      READ scale                          CONSTANT)
+    Q_PROPERTY(Fact* center     READ center                         CONSTANT)
+    Q_PROPERTY(Fact* min        READ min                            CONSTANT)
+    Q_PROPERTY(Fact* max        READ max                            CONSTANT)
+
+    Fact* tuningFact    (void) { return _tuningFact; }
+    Fact* scale         (void) { return &_scaleFact; }
+    Fact* center        (void) { return &_centerFact; }
+    Fact* min           (void) { return &_minFact; }
+    Fact* max           (void) { return &_maxFact; }
+    void  setTuningFact (Fact* tuningFact);
+
+signals:
+    void tuningFactChanged  (Fact* fact);
+    void readyChanged       (bool ready);
+
+private slots:
+    void _parameterUpdated(void);
+
+private:
+    static QMap<QString, FactMetaData*> _metaDataMap;
+
+    Fact* _tuningFact = nullptr;
+    bool _ready =       false;
+    Fact _scaleFact;
+    Fact _centerFact;
+    Fact _minFact;
+    Fact _maxFact;
+
+    static const char*  _scaleFactName;
+    static const char*  _centerFactName;
+    static const char*  _minFactName;
+    static const char*  _maxFactName;
+};

src/QmlControls/ScreenTools.qml

@@ -46,6 +46,9 @@ Item {
     /// QFontMetrics::descent for default font at default point size
     property real defaultFontDescent:       0
 
+    /// The default amount of space in between controls in a dialog
+    property real defaultDialogControlSpacing: defaultFontPixelHeight / 2
+
     property real smallFontPointSize:       10
     property real mediumFontPointSize:      10
     property real largeFontPointSize:       10

src/Vehicle/Vehicle.cc

@@ -4337,6 +4337,54 @@ void Vehicle::updateFlightDistance(double distance)
     _flightDistanceFact.setRawValue(_flightDistanceFact.rawValue().toDouble() + distance);
 }
 
+void Vehicle::sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue)
+{
+    mavlink_message_t message;
+
+    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
+    // Copy string into buffer, ensuring not to exceed the buffer size
+    for (unsigned int i = 0; i < sizeof(param_id_cstr); i++) {
+        if ((int)i < paramName.length()) {
+            param_id_cstr[i] = paramName.toLatin1()[i];
+        }
+    }
+
+    mavlink_msg_param_map_rc_pack_chan(static_cast<uint8_t>(_mavlink->getSystemId()),
+                                       static_cast<uint8_t>(_mavlink->getComponentId()),
+                                       priorityLink()->mavlinkChannel(),
+                                       &message,
+                                       _id,
+                                       MAV_COMP_ID_AUTOPILOT1,
+                                       param_id_cstr,
+                                       -1,                                                  // parameter name specified as string in previous argument
+                                       static_cast<uint8_t>(tuningID),
+                                       static_cast<float>(scale),
+                                       static_cast<float>(centerValue),
+                                       static_cast<float>(minValue),
+                                       static_cast<float>(maxValue));
+    sendMessageOnLink(priorityLink(), message);
+}
+
+void Vehicle::clearAllParamMapRC(void)
+{
+    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
+
+    for (int i = 0; i < 3; i++) {
+        mavlink_message_t message;
+        mavlink_msg_param_map_rc_pack_chan(static_cast<uint8_t>(_mavlink->getSystemId()),
+                                           static_cast<uint8_t>(_mavlink->getComponentId()),
+                                           priorityLink()->mavlinkChannel(),
+                                           &message,
+                                           _id,
+                                           MAV_COMP_ID_AUTOPILOT1,
+                                           param_id_cstr,
+                                           -2,                                                  // Disable map for specified tuning id
+                                           i,                                                   // tuning id
+                                           0, 0, 0, 0);                                         // unused
+        sendMessageOnLink(priorityLink(), message);
+    }
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -781,6 +781,13 @@ public:
     Q_INVOKABLE void gimbalYawStep      (int direction);
     Q_INVOKABLE void centerGimbal       ();
 
+    /// Sends PARAM_MAP_RC message to vehicle
+    Q_INVOKABLE void sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue);
+
+    /// Clears all PARAM_MAP_RC settings from vehicle
+    Q_INVOKABLE void clearAllParamMapRC(void);
+
+
 #if !defined(NO_ARDUPILOT_DIALECT)
     Q_INVOKABLE void flashBootloader();
 #endif

src/comm/MockLink.cc

@@ -505,6 +505,10 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
             _handleLogRequestData(msg);
             break;
 
+        case MAVLINK_MSG_ID_PARAM_MAP_RC:
+            _handleParamMapRC(msg);
+            break;
+
         default:
             break;
         }
@@ -517,6 +521,22 @@ void MockLink::_handleHeartBeat(const mavlink_message_t& msg)
     qCDebug(MockLinkLog) << "Heartbeat";
 }
 
+void MockLink::_handleParamMapRC(const mavlink_message_t& msg)
+{
+    mavlink_param_map_rc_t paramMapRC;
+    mavlink_msg_param_map_rc_decode(&msg, &paramMapRC);
+
+    const QString paramName(QString::fromLocal8Bit(paramMapRC.param_id, static_cast<int>(strnlen(paramMapRC.param_id, MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN))));
+
+    if (paramMapRC.param_index == -1) {
+        qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: param(%1) tuningID(%2) centerValue(%3) scale(%4) min(%5) max(%6)").arg(paramName).arg(paramMapRC.parameter_rc_channel_index).arg(paramMapRC.param_value0).arg(paramMapRC.scale).arg(paramMapRC.param_value_min).arg(paramMapRC.param_value_max);
+    } else if (paramMapRC.param_index == -2) {
+        qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: Clear tuningID(%1)").arg(paramMapRC.parameter_rc_channel_index);
+    } else {
+        qWarning() << QStringLiteral("MockLink - PARAM_MAP_RC: Unsupported param_index(%1)").arg(paramMapRC.param_index);
+    }
+}
+
 void MockLink::_handleSetMode(const mavlink_message_t& msg)
 {
     mavlink_set_mode_t request;

src/comm/MockLink.h

@@ -192,6 +192,7 @@ private:
     void _handlePreFlightCalibration    (const mavlink_command_long_t& request);
     void _handleLogRequestList          (const mavlink_message_t& msg);
     void _handleLogRequestData          (const mavlink_message_t& msg);
+    void _handleParamMapRC              (const mavlink_message_t& msg);
     float _floatUnionForParam           (int componentId, const QString& paramName);
     void _setParamFloatUnionIntoMap     (int componentId, const QString& paramName, float paramFloat);
     void _sendHomePosition              (void);

src/uas/UAS.cc

@@ -986,68 +986,6 @@ void UAS::pairRX(int rxType, int rxSubType)
     }
 }
 
-void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
-{
-    if (!_vehicle) {
-        return;
-    }
-
-    mavlink_message_t message;
-
-    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
-    // Copy string into buffer, ensuring not to exceed the buffer size
-    for (unsigned int i = 0; i < sizeof(param_id_cstr); i++)
-    {
-        if ((int)i < param_id.length())
-        {
-            param_id_cstr[i] = param_id.toLatin1()[i];
-        }
-    }
-
-    mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
-                                       mavlink->getComponentId(),
-                                       _vehicle->priorityLink()->mavlinkChannel(),
-                                       &message,
-                                       this->uasId,
-                                       _vehicle->defaultComponentId(),
-                                       param_id_cstr,
-                                       -1,
-                                       param_rc_channel_index,
-                                       value0,
-                                       scale,
-                                       valueMin,
-                                       valueMax);
-    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
-    //qDebug() << "Mavlink message sent";
-}
-
-void UAS::unsetRCToParameterMap()
-{
-    if (!_vehicle) {
-        return;
-    }
-
-    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
-
-    for (int i = 0; i < 3; i++) {
-        mavlink_message_t message;
-        mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
-                                           mavlink->getComponentId(),
-                                           _vehicle->priorityLink()->mavlinkChannel(),
-                                           &message,
-                                           this->uasId,
-                                           _vehicle->defaultComponentId(),
-                                           param_id_cstr,
-                                           -2,
-                                           i,
-                                           0.0f,
-                                           0.0f,
-                                           0.0f,
-                                           0.0f);
-        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
-    }
-}
-
 void UAS::shutdownVehicle(void)
 {
     _vehicle = nullptr;

src/uas/UAS.h

@@ -210,11 +210,6 @@ public slots:
     void startBusConfig(StartBusConfigType calType);
     void stopBusConfig(void);
 
-    /** @brief Send command to map a RC channel to a parameter */
-    void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
-
-    /** @brief Send command to disable all bindings/maps between RC and parameters */
-    void unsetRCToParameterMap();
 signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */

src/uas/UASInterface.h

@@ -82,12 +82,6 @@ public slots:
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;
 
-    /** @brief Send command to map a RC channel to a parameter */
-    virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) = 0;
-
-    /** @brief Send command to disable all bindings/maps between RC and parameters */
-    virtual void unsetRCToParameterMap() = 0;
-
 signals:
     /** @brief The robot is connected **/
     void connected();