From 6d994de4d1f7dc27cceb9605be047ebf6b285b15 Mon Sep 17 00:00:00 2001
From: Mariano Lizarraga <malife@gmail.com>
Date: Wed, 17 Nov 2010 16:39:19 -0600
Subject: [PATCH] Trying to find memory leak bug

---
 src/uas/SlugsMAV.cc        |  6 +++---
 src/uas/UAS.cc             |  5 -----
 src/ui/SlugsPIDControl.cpp | 18 +++++++++++-------
 src/ui/slugshilsim.cc      | 22 ++--------------------
 src/ui/slugshilsim.h       |  1 -
 5 files changed, 16 insertions(+), 36 deletions(-)

diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index 2f497457f..a34f18928 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -26,7 +26,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     {
     case MAVLINK_MSG_ID_HEARTBEAT:
         {
-            qDebug() << "SLUGS RECEIVED HEARTBEAT";
+            //qDebug() << "SLUGS RECEIVED HEARTBEAT";
             break;
         }
 
@@ -299,7 +299,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         }
     case MAVLINK_MSG_ID_ACTION_ACK:
         {
-            qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_ACTION_ACK";
+            qDebug()<<"--->>>> EMITIENDO MAVLINK_MSG_ID_ACTION_ACK";
             mavlink_action_ack_t ack;
 
             mavlink_msg_action_ack_decode(&message,&ack);
@@ -348,7 +348,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 #endif
 
     default:
-        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
+        //qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
         break;
     }
 }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 347244ea1..703ae4f21 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -611,11 +611,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     throttle << radioMsg.throttle[i];
 
                 QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
-                                                                                    elevator,
-                                                                                    rudder,
-                                                                                    gyro,
-                                                                                    pitch,
-                                                                                    throttle);
                 emit radioCalibrationReceived(radioData);
                 delete radioData;
             }
diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp
index 31a10501b..b5e21b8ce 100644
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -44,6 +44,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
 {
     SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
 
+
     if (slugsMav != NULL)
     {
         connect(slugsMav,SIGNAL(slugsActionAck(int,uint8_t,uint8_t)),this,SLOT(recibeMensaje(int,uint8_t,uint8_t)));
@@ -154,23 +155,26 @@ void SlugsPIDControl::changeColor_RED_AirSpeed_groupBox(QString text)
 
 void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
 {
-    //create the packet
+
+  SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+
+  if (slugsMav != NULL)
+  {
+
+   //create the packet
     pidMessage.target = activeUAS->getUASID();
     pidMessage.idx = 0;
     pidMessage.pVal = ui->dT_P_set->text().toFloat();
     pidMessage.iVal = ui->dT_I_set->text().toFloat();
     pidMessage.dVal = ui->dT_D_set->text().toFloat();
 
-    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getActiveUAS());
-
     mavlink_message_t msg;
 
     mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
-    uas->sendMessage(msg);
-
-
+    slugsMav->sendMessage(msg);
 
-    ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
+     ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
+  }
 }
 
 
diff --git a/src/ui/slugshilsim.cc b/src/ui/slugshilsim.cc
index 9b6b12516..5cf3175e6 100644
--- a/src/ui/slugshilsim.cc
+++ b/src/ui/slugshilsim.cc
@@ -57,19 +57,6 @@ SlugsHilSim::~SlugsHilSim()
     delete ui;
 }
 
-void SlugsHilSim::linkAdded(void){
-
-//  ui->cb_mavlinkLinks->clear();
-
-//  QList<LinkInterface *> linkList;
-//  linkList.append(LinkManager::instance()->getLinks()) ;
-
-//  for (int i = 0; i< linkList.size(); i++){
-//    ui->cb_mavlinkLinks->addItem((linkList.takeFirst())->getName());
-//  }
-
-}
-
 void SlugsHilSim::addToCombo(LinkInterface* theLink){
 
   ui->cb_mavlinkLinks->addItem(theLink->getName());
@@ -177,12 +164,12 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
   tmpGpsTime.visSat  = datagram->at(i++);
 
   mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
-  activeUas->sendMessage(hilLink,&msg);
+  activeUas->sendMessage(hilLink, msg);
 
   memset(&msg, 0, sizeof(mavlink_message_t));
 
   mavlink_msg_gps_raw_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsRaw);
-  activeUas->sendMessage(hilLink,&msg);
+  activeUas->sendMessage(hilLink,msg);
 
   // TODO: this is legacy of old HIL datagram. Need to remove from Simulink model
   i++;
@@ -200,11 +187,6 @@ float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned ch
   tmpF2C.chData[2] = datagram->at((*i)++);
   tmpF2C.chData[3] = datagram->at((*i)++);
 
-
-//  if (uas != NULL) {
-//    //activeUas = uas;
-//  }
-
   return tmpF2C.flData;
 }
 
diff --git a/src/ui/slugshilsim.h b/src/ui/slugshilsim.h
index cd6f42ac4..dc0d8d1d7 100644
--- a/src/ui/slugshilsim.h
+++ b/src/ui/slugshilsim.h
@@ -60,7 +60,6 @@ protected:
     UAS* activeUas;
 
 public slots:
-    void linkAdded (void);
 
     /**
      * @brief Adds a link to the combo box listing so the user can select a link
-- 
2.22.0