From 585cc5b34afc5b88cf3a472259be8f9e9c2bc709 Mon Sep 17 00:00:00 2001
From: LM <lm@student.ethz.ch>
Date: Mon, 10 Oct 2011 12:40:48 +0200
Subject: [PATCH] Cleaned up debug vects, fixed a few bugs in radio control
 widget

---
 src/uas/UAS.cc                 |  2 ++
 src/ui/MAVLinkDecoder.cc       |  2 ++
 src/ui/QGCRemoteControlView.cc | 27 +++++++++++++++++----------
 3 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 8babe6e638..380ff1e3e1 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -890,10 +890,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_SCALED_PRESSURE:
         case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
+            break;
         case MAVLINK_MSG_ID_DEBUG_VECT:
             {
                 mavlink_debug_vect_t debug;
                 mavlink_msg_debug_vect_decode(&message, &debug);
+                debug.name[MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN-1] = '\0';
                 QString name(debug.name);
                 quint64 time = getUnixTime(debug.time_usec);
                 emit valueChanged(uasId, name+".x", "raw", debug.x, time);
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index 18de09e7bd..538c3e226a 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -20,6 +20,8 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
     messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
+    messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
+    messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
 
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
diff --git a/src/ui/QGCRemoteControlView.cc b/src/ui/QGCRemoteControlView.cc
index e16c3cc21e..f694ec5f0b 100644
--- a/src/ui/QGCRemoteControlView.cc
+++ b/src/ui/QGCRemoteControlView.cc
@@ -77,21 +77,26 @@ QGCRemoteControlView::~QGCRemoteControlView()
 
 void QGCRemoteControlView::setUASId(int id)
 {
-    // Clear channel count
-    raw.clear();
-    normalized.clear();
-
-    if (uasId != -1) {
-        UASInterface* uas = UASManager::instance()->getUASForId(id);
-        if (uas) {
+    if (uasId != -1)
+    {
+        UASInterface* uas = UASManager::instance()->getUASForId(uasId);
+        if (uas)
+        {
             // The UAS exists, disconnect any existing connections
             disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
             disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
             disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
             disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
+            disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
         }
     }
 
+    // Clear channel count
+    raw.clear();
+    raw.resize(0);
+    normalized.clear();
+    normalized.resize(0);
+
     foreach (QLabel* label, rawLabels)
     {
         label->deleteLater();
@@ -103,11 +108,14 @@ void QGCRemoteControlView::setUASId(int id)
     }
 
     rawLabels.clear();
+    rawLabels.resize(0);
     progressBars.clear();
+    progressBars.resize(0);
 
     // Connect the new UAS
     UASInterface* newUAS = UASManager::instance()->getUASForId(id);
-    if (newUAS) {
+    if (newUAS)
+    {
         // New UAS exists, connect
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
         calibrationWindow->setUASId(id);
@@ -140,11 +148,10 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
 
 void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
 {
-    if (this->raw.size() <= channelId) // using raw vector as size indicator
+    if (this->normalized.size() <= channelId) // using raw vector as size indicator
     {
         // This is a new channel, append it
         this->normalized.append(normalized);
-        this->raw.append(0);
         appendChannelWidget(channelId);
         updated = true;
     }
-- 
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