Added write retransmission

src/QGC.cc

@@ -37,6 +37,15 @@ quint64 groundTimeUsecs()
     return static_cast<quint64>(microseconds + (time.time().msec()*1000));
 }
 
+quint64 groundTimeMilliseconds()
+{
+    QDateTime time = QDateTime::currentDateTime();
+    time = time.toUTC();
+    /* Return seconds and milliseconds, in milliseconds unit */
+    quint64 seconds = time.toTime_t() * static_cast<quint64>(1000);
+    return static_cast<quint64>(seconds + (time.time().msec()));
+}
+
 float limitAngleToPMPIf(float angle)
 {
     while (angle > ((float)M_PI+FLT_EPSILON))

src/QGC.h

@@ -23,6 +23,8 @@ namespace QGC
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
+    /** @brief Get the current ground time in milliseconds */
+    quint64 groundTimeMilliseconds();
     /** @brief Returns the angle limited to -pi - pi */
     float limitAngleToPMPIf(float angle);
     /** @brief Returns the angle limited to -pi - pi */

src/comm/MAVLinkSimulationLink.cc

@@ -884,6 +884,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         //add data into datastream
                         memcpy(stream+streampointer,buffer, bufferlength);
                         streampointer+=bufferlength;
+                        //qDebug() << "Sending PARAM" << key;
                     }
                     else if (read.param_index < onboardParams.size())
                     {
@@ -891,12 +892,13 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         float paramValue = onboardParams.value(key);
 
                         // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
+                        mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
                         // Allocate buffer with packet data
                         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                         //add data into datastream
                         memcpy(stream+streampointer,buffer, bufferlength);
                         streampointer+=bufferlength;
+                        //qDebug() << "Sending PARAM #ID" << (read.param_index) << "KEY:" << key;
                     }
                 }
                 break;

src/ui/QGCParamWidget.h

@@ -94,14 +94,15 @@ protected:
     QMap<int, QMap<QString, float>* > parameters; ///< All parameters
     QVector<bool> received; ///< Successfully received parameters
     QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
-    QMap<int, QList<float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
+    QMap<int, QMap<QString, float>* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, bool> transmissionListSizeKnown;  ///< List size initialized?
     bool transmissionActive;         ///< Missing packets, working on list?
-    quint64 transmissionStarted;     ///< Timeout
+    quint64 transmissionTimeout;     ///< Timeout
     QTimer retransmissionTimer;      ///< Timer handling parameter retransmission
     int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds
     int rewriteTimeout; ///< Write request timeout, in milliseconds
+    int retransmissionBurstRequestSize; ///< Number of packets requested for retransmission per burst
 
     /** @brief Activate / deactivate parameter retransmission */
     void setRetransmissionGuardEnabled(bool enabled);