Adding support for custom value.

src/Camera/QGCCameraControl.cc

@@ -603,6 +603,10 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
             qCritical() << QString("Unknown type for parameter %1").arg(factName);
             return false;
         }
+        //-- By definition, custom types do not have control
+        if(factType == FactMetaData::valueTypeCustom) {
+            control = false;
+        }
         //-- Description
         QString description;
         if(!read_value(parameterNode, kDescription, description)) {

src/Camera/QGCCameraIO.cc

@@ -55,6 +55,9 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
         case FactMetaData::valueTypeFloat:
             _mavParamType = MAV_PARAM_TYPE_REAL32;
             break;
+        case FactMetaData::valueTypeCustom:
+            _mavParamType = (MAV_PARAM_TYPE)11; // MAV_PARAM_TYPE_CUSTOM;
+            break;
         default:
             qWarning() << "Unsupported fact type" << _fact->type() << "for" << _fact->name();
             // Fall through
@@ -111,11 +114,10 @@ QGCCameraParamIO::sendParameter(bool updateUI)
 void
 QGCCameraParamIO::_sendParameter()
 {
-    //-- TODO: We should use something other than mavlink_param_union_t for PARAM_EXT_SET
     mavlink_param_ext_set_t p;
     memset(&p, 0, sizeof(mavlink_param_ext_set_t));
-    mavlink_param_union_t       union_value;
-    mavlink_message_t           msg;
+    param_ext_union_t   union_value;
+    mavlink_message_t   msg;
     FactMetaData::ValueType_t factType = _fact->type();
     p.param_type = _mavParamType;
     switch (factType) {
@@ -138,6 +140,12 @@ QGCCameraParamIO::_sendParameter()
         case FactMetaData::valueTypeFloat:
             union_value.param_float = _fact->rawValue().toFloat();
             break;
+        case FactMetaData::valueTypeCustom:
+            {
+                QByteArray custom = _fact->rawValue().toByteArray();
+                memcpy(union_value.bytes, custom.data(), std::max(custom.size(), MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN));
+            }
+            break;
         default:
             qCritical() << "Unsupported fact type" << factType << "for" << _fact->name();
             // fall through
@@ -145,7 +153,7 @@ QGCCameraParamIO::_sendParameter()
             union_value.param_int32 = (int32_t)_fact->rawValue().toInt();
             break;
     }
-    memcpy(&p.param_value[0], &union_value.param_float, sizeof(float));
+    memcpy(&p.param_value[0], &union_value.bytes[0], MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN);
     p.target_system = (uint8_t)_vehicle->id();
     p.target_component = (uint8_t)_control->compID();
     strncpy(p.param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_ID_LEN);
@@ -239,11 +247,9 @@ QGCCameraParamIO::handleParamValue(const mavlink_param_ext_value_t& value)
 QVariant
 QGCCameraParamIO::_valueFromMessage(const char* value, uint8_t param_type)
 {
-    //-- TODO: Even though we don't use anything larger than 32-bit, this should
-    //   probably be updated.
     QVariant var;
-    mavlink_param_union_t u;
-    memcpy(&u.param_float, value, sizeof(float));
+    param_ext_union_t u;
+    memcpy(u.bytes, value, MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN);
     switch (param_type) {
         case MAV_PARAM_TYPE_REAL32:
             var = QVariant(u.param_float);
@@ -266,6 +272,9 @@ QGCCameraParamIO::_valueFromMessage(const char* value, uint8_t param_type)
         case MAV_PARAM_TYPE_INT32:
             var = QVariant(u.param_int32);
             break;
+        case 11: //MAV_PARAM_TYPE_CUSTOM:
+            var = QVariant(QByteArray(value, MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN));
+            break;
         default:
             var = QVariant(0);
             qCritical() << "Invalid param_type used for camera setting:" << param_type;

src/Camera/QGCCameraIO.h

@@ -15,6 +15,21 @@ class QGCCameraControl;
 Q_DECLARE_LOGGING_CATEGORY(CameraIOLog)
 Q_DECLARE_LOGGING_CATEGORY(CameraIOLogVerbose)
 
+MAVPACKED(
+typedef struct {
+    union {
+        float       param_float;
+        int32_t     param_int32;
+        uint32_t    param_uint32;
+        int16_t     param_int16;
+        uint16_t    param_uint16;
+        int8_t      param_int8;
+        uint8_t     param_uint8;
+        uint8_t     bytes[MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN];
+    };
+    uint8_t type;
+}) param_ext_union_t;
+
 //-----------------------------------------------------------------------------
 class QGCCameraParamIO : public QObject
 {

src/FactSystem/FactMetaData.cc

@@ -240,6 +240,8 @@ QVariant FactMetaData::_minForType(void) const
         return QVariant(0);
     case valueTypeElapsedTimeInSeconds:
         return QVariant(0.0);
+    case valueTypeCustom:
+        return QVariant();
     }
     
     // Make windows compiler happy, even switch is full cased
@@ -270,6 +272,8 @@ QVariant FactMetaData::_maxForType(void) const
         return QVariant();
     case valueTypeBool:
         return QVariant(1);
+    case valueTypeCustom:
+        return QVariant();
     }
     
     // Make windows compiler happy, even switch is full cased
@@ -328,6 +332,10 @@ bool FactMetaData::convertAndValidateRaw(const QVariant& rawValue, bool convertO
         convertOk = true;
         typedValue = QVariant(rawValue.toBool());
         break;
+    case FactMetaData::valueTypeCustom:
+        convertOk = true;
+        typedValue = QVariant(rawValue.toByteArray());
+        break;
     }
     
     if (!convertOk) {
@@ -389,6 +397,10 @@ bool FactMetaData::convertAndValidateCooked(const QVariant& cookedValue, bool co
         convertOk = true;
         typedValue = QVariant(cookedValue.toBool());
         break;
+    case FactMetaData::valueTypeCustom:
+        convertOk = true;
+        typedValue = QVariant(cookedValue.toByteArray());
+        break;
     }
 
     if (!convertOk) {
@@ -455,6 +467,10 @@ bool FactMetaData::clampValue(const QVariant& cookedValue, QVariant& typedValue)
         convertOk = true;
         typedValue = QVariant(cookedValue.toBool());
         break;
+    case FactMetaData::valueTypeCustom:
+        convertOk = true;
+        typedValue = QVariant(cookedValue.toByteArray());
+        break;
     }
     return convertOk;
 }
@@ -693,7 +709,8 @@ FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString,
                      << QStringLiteral("Double")
                      << QStringLiteral("String")
                      << QStringLiteral("Bool")
-                     << QStringLiteral("ElapsedSeconds");
+                     << QStringLiteral("ElapsedSeconds")
+                     << QStringLiteral("Custom");
 
     knownTypes << valueTypeUint8
                << valueTypeInt8
@@ -705,7 +722,8 @@ FactMetaData::ValueType_t FactMetaData::stringToType(const QString& typeString,
                << valueTypeDouble
                << valueTypeString
                << valueTypeBool
-               << valueTypeElapsedTimeInSeconds;
+               << valueTypeElapsedTimeInSeconds
+               << valueTypeCustom;
 
     for (int i=0; i<knownTypeStrings.count(); i++) {
         if (knownTypeStrings[i].compare(typeString, Qt::CaseInsensitive) == 0) {
@@ -737,6 +755,9 @@ size_t FactMetaData::typeToSize(ValueType_t type)
     case valueTypeDouble:
         return 8;
 
+    case valueTypeCustom:
+        return MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN;
+
     default:
         qWarning() << "Unsupported fact value type" << type;
         return 0;

src/FactSystem/FactMetaData.h

@@ -41,6 +41,7 @@ public:
         valueTypeString,
         valueTypeBool,
         valueTypeElapsedTimeInSeconds,  // Internally stored as double, valueString displays as HH:MM:SS
+        valueTypeCustom,                // Internally stored as a QByteArray
     } ValueType_t;
 
     typedef QVariant (*Translator)(const QVariant& from);

src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc

@@ -20,6 +20,8 @@
 #include <QDir>
 #include <QDebug>
 
+static const char* kInvalidConverstion = "Internal Error: No support for string parameters";
+
 QGC_LOGGING_CATEGORY(PX4ParameterMetaDataLog, "PX4ParameterMetaDataLog")
 
 PX4ParameterMetaData::PX4ParameterMetaData(void)
@@ -57,13 +59,17 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
         convertTo = QVariant::Double;
         break;
     case FactMetaData::valueTypeString:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::String;
         break;
     case FactMetaData::valueTypeBool:
-        qWarning() << "Internal Error: No support for string parameters";
+        qWarning() << kInvalidConverstion;
         convertTo = QVariant::Bool;
         break;
+    case FactMetaData::valueTypeCustom:
+        qWarning() << kInvalidConverstion;
+        convertTo = QVariant::ByteArray;
+        break;
     }
     
     *convertOk = var.convert(convertTo);