From 5ed1b5bcc8b21ae76470da4676607606d9b75394 Mon Sep 17 00:00:00 2001
From: Jessica <jessica@ubuntu.ubuntu-domain>
Date: Fri, 20 Jul 2012 15:50:23 -0700
Subject: [PATCH] System type is set to generic in constructor of UAS.

---
 qgcunittest/UASUnitTest.cc | 11 ++++++-----
 src/uas/UAS.cc             | 35 ++++++++++++++++++++---------------
 src/uas/UAS.h              |  3 +--
 3 files changed, 27 insertions(+), 22 deletions(-)

diff --git a/qgcunittest/UASUnitTest.cc b/qgcunittest/UASUnitTest.cc
index cf2c49a1d..ce36f7770 100644
--- a/qgcunittest/UASUnitTest.cc
+++ b/qgcunittest/UASUnitTest.cc
@@ -1,5 +1,6 @@
 #include "UASUnitTest.h"
 #include <stdio.h>
+#include <QObject>
 UASUnitTest::UASUnitTest()
 {
 }
@@ -167,8 +168,9 @@ void UASUnitTest::getSelected_test()
 }
 
 void UASUnitTest::getSystemType_test()
-{   //best guess: it is not initialized in the constructor,
-    //what should it be initialized to?
+{    //check that system type is set to MAV_TYPE_GENERIC when initialized
+    QCOMPARE(uas->getSystemType(), 0);
+    uas->setSystemType(13);
     QCOMPARE(uas->getSystemType(), 13);
 }
 
@@ -251,13 +253,12 @@ void UASUnitTest::getWaypoint_test()
 
 void UASUnitTest::signalWayPoint_test()
 {
-    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointListChanged(UASID)));
-	
+    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(UASID)));
     Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
     printf("spy.count = %d\n", spy.count());
-    //QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
+    QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
     uas->getWaypointManager()->removeWaypoint(0);
     QCOMPARE(spy.count(), 2); // 2 listChanged for remove wayPoint
     QSignalSpy spyDestroyed(uas->getWaypointManager(), SIGNAL(destroyed()));
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f555ef806..30f3f3e14 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -111,7 +111,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
-    readSettings();
+    readSettings(); 
+    type = MAV_TYPE_GENERIC;
     // Initial signals
     emit disarmed();
     emit armingChanged(false);
@@ -2081,21 +2082,25 @@ void UAS::requestParameter(int component, const QString& parameter)
 
 void UAS::setSystemType(int systemType)
 {
-    type = systemType;
-    // If the airframe is still generic, change it to a close default type
-    if (airframe == 0)
+    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
     {
-        switch (systemType)
-        {
-        case MAV_TYPE_FIXED_WING:
-            airframe = QGC_AIRFRAME_EASYSTAR;
-            break;
-        case MAV_TYPE_QUADROTOR:
-            airframe = QGC_AIRFRAME_MIKROKOPTER;
-            break;
-        }
-    }
-    emit systemSpecsChanged(uasId);
+      type = systemType;
+    
+      // If the airframe is still generic, change it to a close default type
+      if (airframe == 0)
+      {
+          switch (systemType)
+          {
+          case MAV_TYPE_FIXED_WING:
+              airframe = QGC_AIRFRAME_EASYSTAR;
+              break;
+          case MAV_TYPE_QUADROTOR:
+              airframe = QGC_AIRFRAME_MIKROKOPTER;
+              break;
+          }
+      }
+      emit systemSpecsChanged(uasId);
+   }
 }
 
 void UAS::setUASName(const QString& name)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index bab9d5547..3f2e591c6 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -490,7 +490,7 @@ public slots:
     /** @brief Set the specific airframe type */
     void setAirframe(int airframe)
     {
-        if((airframe >= 0) && (airframe < 12))
+        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
         {
           this->airframe = airframe;
           emit systemSpecsChanged(uasId);
@@ -643,7 +643,6 @@ public slots:
     void stopDataRecording();
     void deleteSettings();
 signals:
-
     /** @brief The main/battery voltage has changed/was updated */
     //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
     /** @brief An actuator value has changed */
-- 
2.22.0