Merge pull request #383 from jean-m-cyr/config

Implement message driven receiver pairing

qupgrade.pro

@@ -84,7 +84,7 @@ include(qserialport.pri)
 macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
 linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
 linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+win32-g++::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
 win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
 
 # -------------------------------------------------

src/uas/UAS.cc

@@ -2866,6 +2866,17 @@ void UAS::land()
     sendMessage(msg);
 }
 
+/**
+* Order the robot to start receiver pairing
+*/
+void UAS::pairRX(int rxType, int rxSubType)
+{
+    mavlink_message_t msg;
+
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_START_RX_PAIR, 0, rxType, rxSubType, 0, 0, 0, 0, 0);
+    sendMessage(msg);
+}
+
 /**
  * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
  * and might differ between systems.

src/uas/UAS.h

@@ -723,6 +723,9 @@ public slots:
     void home();
     /** @brief Order the robot to land **/
     void land();
+    /** @brief Order the robot to pair its receiver **/
+    void pairRX(int rxType, int rxSubType);
+
     void halt();
     void go();
 

src/uas/UASInterface.h

@@ -290,6 +290,8 @@ public slots:
     virtual void home() = 0;
     /** @brief Order the robot to land **/
     virtual void land() = 0;
+    /** @brief Order the robot to pair its receiver **/
+    virtual void pairRX(int rxType, int rxSubType) = 0;
     /** @brief Halt the system */
     virtual void halt() = 0;
     /** @brief Start/continue the current robot action */

src/ui/QGCPX4VehicleConfig.cc

@@ -343,15 +343,12 @@ void QGCPX4VehicleConfig::toggleSpektrumPairing(bool enabled)
         warnMsgBox.setStandardButtons(QMessageBox::Ok);
         warnMsgBox.setDefaultButton(QMessageBox::Ok);
         (void)warnMsgBox.exec();
+        return;
     }
 
-    int mode = 1; // DSM2
-    if (ui->dsmxRadioButton->isChecked())
-        mode = 2; // DSMX
-
-	mav->getParamManager()->setPendingParam(0, "RC_DSM_BIND", mode, true);
-	// Do not save this parameter, just set in RAM
-	mav->getParamManager()->sendPendingParameters(false, true);
+    UASInterface* mav = UASManager::instance()->getActiveUAS();
+    if (mav)
+        mav->pairRX(0, ui->dsmxRadioButton->isChecked() ? 1 : 0);
 }
 
 void QGCPX4VehicleConfig::setTrimPositions()