Folder structure cleanup, added APM tooltips

src/comm/MAVLinkSimulationLink.cc

@@ -66,10 +66,12 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     onboardParams.insert("PID_ROLL_K_P", 0.5f);
     onboardParams.insert("PID_PITCH_K_P", 0.5f);
     onboardParams.insert("PID_YAW_K_P", 0.5f);
-    onboardParams.insert("PID_XY_K_P", 0.5f);
+    onboardParams.insert("PID_XY_K_P", 100.0f);
     onboardParams.insert("PID_ALT_K_P", 0.5f);
     onboardParams.insert("SYS_TYPE", 1);
     onboardParams.insert("SYS_ID", systemId);
+    onboardParams.insert("RC4_REV", 0);
+    onboardParams.insert("RC5_REV", 1);
 
     // Comments on the variables can be found in the header file
 

src/comm/MAVLinkSimulationMAV.cc

@@ -68,7 +68,7 @@ void MAVLinkSimulationMAV::mainloop()
     // 1 Hz execution
     if (timer1Hz <= 0) {
         mavlink_message_t msg;
-        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, MAV_MODE_GUIDED, MAV_FLIGHT_MODE_AUTO_MISSION, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF);
+        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_MODE_GUIDED, MAV_FLIGHT_MODE_AUTO_MISSION, MAV_STATE_ACTIVE, MAV_SAFETY_ARMED, 0xFF);
         link->sendMAVLinkMessage(&msg);
         planner.handleMessage(msg);
 

src/uas/QGCUASParamManager.h

@@ -4,6 +4,7 @@
 #include <QWidget>
 #include <QMap>
 #include <QTimer>
+#include <QVariant>
 
 class UASInterface;
 
@@ -16,10 +17,10 @@ public:
     QList<QString> getParameterNames(int component) const {
         return parameters.value(component)->keys();
     }
-    QList<float> getParameterValues(int component) const {
+    QList<QVariant> getParameterValues(int component) const {
         return parameters.value(component)->values();
     }
-    float getParameterValue(int component, const QString& parameter) const {
+    QVariant getParameterValue(int component, const QString& parameter) const {
         return parameters.value(component)->value(parameter);
     }
 
@@ -29,23 +30,23 @@ public:
     virtual void requestParameterUpdate(int component, const QString& parameter) = 0;
 
 signals:
-    void parameterChanged(int component, QString parameter, float value);
-    void parameterChanged(int component, int parameterIndex, float value);
+    void parameterChanged(int component, QString parameter, QVariant value);
+    void parameterChanged(int component, int parameterIndex, QVariant value);
     void parameterListUpToDate(int component);
 
 public slots:
     /** @brief Write one parameter to the MAV */
-    virtual void setParameter(int component, QString parameterName, float value) = 0;
+    virtual void setParameter(int component, QString parameterName, QVariant value) = 0;
     /** @brief Request list of parameters from MAV */
     virtual void requestParameterList() = 0;
 
 protected:
     UASInterface* mav;   ///< The MAV this widget is controlling
-    QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QMap<int, QMap<QString, QVariant>* > changedValues; ///< Changed values
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     QVector<bool> received; ///< Successfully received parameters
     QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    QMap<int, QMap<QString, QVariant>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?

src/uas/UAS.cc

@@ -743,21 +743,74 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 QByteArray bytes((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
                 QString parameterName = QString(bytes);
                 int component = message.compid;
-                float val = value.param_value;
+                mavlink_param_union_t val;
+                val.param_float = value.param_value;
+
+                // Convert to machine order if necessary
+//#if MAVLINK_NEED_BYTE_SWAP
+//   buffer[bindex]   = (b>>24)&0xff;
+//   buffer[bindex+1] = (b>>16)&0xff;
+//   buffer[bindex+2] = (b>>8)&0xff;
+//   buffer[bindex+3] = (b & 0xff);
+//#else
 
                 // Insert component if necessary
                 if (!parameters.contains(component))
                 {
-                    parameters.insert(component, new QMap<QString, float>());
+                    parameters.insert(component, new QMap<QString, QVariant>());
                 }
 
                 // Insert parameter into registry
                 if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
-                parameters.value(component)->insert(parameterName, val);
 
-                // Emit change
-                emit parameterChanged(uasId, message.compid, parameterName, val);
-                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
+                // Insert with correct type
+                switch (value.param_type)
+                {
+                case MAV_DATA_TYPE_FLOAT:
+                    parameters.value(component)->insert(parameterName, val.param_float);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_float);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_float);
+                    break;/*
+                case MAV_DATA_TYPE_UINT8:
+                    parameters.value(component)->insert(parameterName, val.param_uint8);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint8);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint8);
+                    break;
+                case MAV_DATA_TYPE_INT8:
+                    parameters.value(component)->insert(parameterName, val.param_int8);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int8);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int8);
+                    break;
+                case MAV_DATA_TYPE_UINT16:
+                    parameters.value(component)->insert(parameterName, val.param_uint16);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint16);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint16);
+                    break;
+                case MAV_DATA_TYPE_INT16:
+                    parameters.value(component)->insert(parameterName, val.param_int16);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int16);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int16);
+                    break;*/
+                case MAV_DATA_TYPE_UINT32:
+                    parameters.value(component)->insert(parameterName, val.param_uint32);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_uint32);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_uint32);
+                    break;
+                case MAV_DATA_TYPE_INT32:
+                    parameters.value(component)->insert(parameterName, val.param_int32);
+                    // Emit change
+                    emit parameterChanged(uasId, message.compid, parameterName, val.param_int32);
+                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val.param_int32);
+                    break;
+                default:
+                    qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
+                }
             }
             break;
         case MAVLINK_MSG_ID_COMMAND_ACK:
@@ -1868,13 +1921,35 @@ void UAS::enableExtra3Transmission(int rate)
  * @param id Name of the parameter
  * @param value Parameter value
  */
-void UAS::setParameter(const int component, const QString& id, const float value)
+void UAS::setParameter(const int component, const QString& id, const QVariant& value)
 {
     if (!id.isNull())
     {
         mavlink_message_t msg;
         mavlink_param_set_t p;
-        p.param_value = value;
+        mavlink_param_union_t union_value;
+
+        // Assign correct value based on QVariant
+        switch (value.type())
+        {
+        case QVariant::Int:
+            union_value.param_int32 = value.toInt();
+            p.param_type = MAV_DATA_TYPE_INT32;
+            break;
+        case QVariant::UInt:
+            union_value.param_uint32 = value.toUInt();
+            p.param_type = MAV_DATA_TYPE_UINT32;
+            break;
+        case QMetaType::Float:
+            union_value.param_float = value.toFloat();
+            p.param_type = MAV_DATA_TYPE_FLOAT;
+            break;
+        default:
+            qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
+            return;
+        }
+
+        p.param_value = union_value.param_float;
         p.target_system = (uint8_t)uasId;
         p.target_component = (uint8_t)component;
 

src/uas/UAS.h

@@ -200,7 +200,7 @@ protected: //COMMENTS FOR TEST UNIT
     QImage image;               ///< Image data of last completely transmitted image
     quint64 imageStart;
 
-    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
     bool paramsOnceRequested;   ///< If the parameter list has been read at least once
     int airframe;               ///< The airframe type
     bool attitudeKnown;         ///< True if attitude was received, false else
@@ -459,7 +459,7 @@ public slots:
     void requestParameter(int component, int parameter);
 
     /** @brief Set a system parameter */
-    void setParameter(const int component, const QString& id, const float value);
+    void setParameter(const int component, const QString& id, const QVariant& value);
 
     /** @brief Write parameters to permanent storage */
     void writeParametersToStorage();

src/uas/UASInterface.h

@@ -255,7 +255,7 @@ public slots:
      * @warning The length of the ID string is limited by the MAVLink format! Take care to not exceed it
      * @param value Value of the parameter, IEEE 754 single precision floating point
      */
-    virtual void setParameter(const int component, const QString& id, const float value) = 0;
+    virtual void setParameter(const int component, const QString& id, const QVariant& value) = 0;
 
     /**
      * @brief Add a link to the list of current links
@@ -395,8 +395,8 @@ signals:
     void waypointSelected(int uasId, int id);
     void waypointReached(UASInterface* uas, int id);
     void autoModeChanged(bool autoMode);
-    void parameterChanged(int uas, int component, QString parameterName, float value);
-    void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value);
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, QVariant value);
     void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
     void letterDetected(int uasId, QString letter, float confidence, bool detected);
     /**

src/ui/QGCParamWidget.h

@@ -52,22 +52,22 @@ public:
     UASInterface* getUAS();
 signals:
     /** @brief A parameter was changed in the widget, NOT onboard */
-    void parameterChanged(int component, QString parametername, float value);
+    void parameterChanged(int component, QString parametername, QVariant value);
     /** @brief Request a single parameter */
     void requestParameter(int component, int parameter);
 public slots:
     /** @brief Add a component to the list */
     void addComponent(int uas, int component, QString componentName);
     /** @brief Add a parameter to the list with retransmission / safety checks */
-    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value);
+    void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, QVariant value);
     /** @brief Add a parameter to the list */
-    void addParameter(int uas, int component, QString parameterName, float value);
+    void addParameter(int uas, int component, QString parameterName, QVariant value);
     /** @brief Request list of parameters from MAV */
     void requestParameterList();
     /** @brief Request one single parameter */
     void requestParameterUpdate(int component, const QString& parameter);
     /** @brief Set one parameter, changes value in RAM of MAV */
-    void setParameter(int component, QString parameterName, float value);
+    void setParameter(int component, QString parameterName, QVariant value);
     /** @brief Set all parameters, changes the value in RAM of MAV */
     void setParameters();
     /** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
@@ -96,9 +96,9 @@ protected:
     // Tooltip data structures
     QMap<QString, QString> paramToolTips; ///< Tooltip values
     // Min / Default / Max data structures
-    QMap<QString, float> paramMin; ///< Minimum param values
-    QMap<QString, float> paramDefault; ///< Default param values
-    QMap<QString, float> paramMax; ///< Minimum param values
+    QMap<QString, double> paramMin; ///< Minimum param values
+    QMap<QString, double> paramDefault; ///< Default param values
+    QMap<QString, double> paramMax; ///< Minimum param values
 
     /** @brief Activate / deactivate parameter retransmission */
     void setRetransmissionGuardEnabled(bool enabled);

src/ui/uas/UASControlWidget.cc

@@ -69,7 +69,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
 {
     if (this->uas != 0) {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
-        disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(enable_motors()));
+        disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
         disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
         disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));