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Commit 594429ee authored by Lorenz Meier's avatar Lorenz Meier
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Revert "remove duplicate code " 

This reverts commit 80f4f133.
parent 55b29141
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Showing with 112 additions and 63 deletions
src/uas/UAS.cc
View file @ 594429ee
......@@ -2552,76 +2552,125 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>());
}
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param;
// Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type) {
case MAV_PARAM_TYPE_REAL32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
} else {
param = QVariant(paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
} else {
param = QVariant(QChar((quint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
} else {
param = QVariant(QChar((qint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
} else {
param = QVariant((qint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
} else {
param = QVariant((quint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
} else {
param = QVariant((quint32)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_INT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
} else {
param = QVariant((qint32)paramValue.param_float);
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
return;
switch (rawValue.param_type)
{
case MAV_PARAM_TYPE_REAL32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
}
else {
param = QVariant(paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
}
else {
param = QVariant(QChar((quint8)paramValue.param_float));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
}
else {
param = QVariant(QChar((qint8)paramValue.param_float));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
}
else {
param = QVariant((qint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
}
else {
param = QVariant((quint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant((quint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant((qint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
} //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
/**
......
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