Merge pull request #2504 from DonLakeFlyer/ArmingChecks

Arming checks added to Safety

src/AutoPilotPlugins/APM/APMSafetyComponentCopter.qml

@@ -58,6 +58,8 @@ QGCView {
     property Fact _rtlLoitTimeFact: controller.getParameterFact(-1, "RTL_LOIT_TIME")
     property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")
 
+    property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
+
     property real _margins: ScreenTools.defaultFontPixelHeight
 
     ExclusiveGroup { id: fenceActionRadioGroup }
@@ -71,9 +73,8 @@ QGCView {
         Flickable {
             clip:               true
             anchors.fill:       parent
-            boundsBehavior:     Flickable.StopAtBounds
-            contentHeight:      rtlSettings.y + rtlSettings.height
-            flickableDirection: Flickable.VerticalFlick
+            contentHeight:      armingCheckSettings.y + armingCheckSettings.height
+            contentWidth:       armingCheckSettings.x + armingCheckSettings.width
 
             QGCLabel {
                 id:         failsafeLabel
@@ -447,6 +448,33 @@ QGCView {
                     showUnits:          true
                 }
             } // Rectangle - RTL Settings
+
+            QGCLabel {
+                id:                 armingCheckLabel
+                anchors.topMargin:  _margins
+                anchors.left:       parent.left
+                anchors.top:        rtlSettings.bottom
+                text:               "Arming Checks"
+                font.weight:        Font.DemiBold
+            }
+
+            Rectangle {
+                id:                 armingCheckSettings
+                anchors.topMargin:  _margins / 2
+                anchors.left:       parent.left
+                anchors.top:        armingCheckLabel.bottom
+                width:              armingCheckColumn.x + armingCheckColumn.width + _margins
+                height:             armingCheckColumn.y + armingCheckColumn.height + _margins
+                color:              palette.windowShade
+
+                Column {
+                    id:         armingCheckColumn
+                    spacing:    _margins
+
+                    QGCLabel { text: "Be very careful when turning off arming checks. Could lead to loss of Vehicle control." }
+                    FactBitmask { fact: _armingCheck }
+                }
+            }
         } // Flickable
     } // QGCViewPanel
 } // QGCView

src/AutoPilotPlugins/APM/APMSafetyComponentSummaryCopter.qml

@@ -26,6 +26,8 @@ FactPanel {
     property Fact _rtlAltFinalFact: controller.getParameterFact(-1, "RTL_ALT_FINAL")
     property Fact _landSpeedFact:   controller.getParameterFact(-1, "LAND_SPEED")
 
+    property Fact _armingCheck: controller.getParameterFact(-1, "ARMING_CHECK")
+
     property string _failsafeBattEnableText
     property string _failsafeThrEnableText
 
@@ -85,6 +87,11 @@ FactPanel {
         anchors.fill:       parent
         anchors.margins:    8
 
+        VehicleSummaryRow {
+            labelText: "Arming Checks:"
+            valueText:  _armingCheck.value & 1 ? "Enabled" : "Some disabled"
+        }
+
         VehicleSummaryRow {
             labelText: "Throttle failsafe:"
             valueText:  _failsafeThrEnableText

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -523,21 +523,51 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
             bool ok = false;
             unsigned int bitSet = bitmaskPair.first.toUInt(&ok);
             bitSet = 1 << bitSet;
+
+            QVariant typedBitSet;
+
+            switch (fact->type()) {
+            case FactMetaData::valueTypeInt8:
+                typedBitSet = QVariant((signed char)bitSet);
+                break;
+
+            case FactMetaData::valueTypeInt16:
+                typedBitSet = QVariant((short int)bitSet);
+                break;
+
+            case FactMetaData::valueTypeInt32:
+                typedBitSet = QVariant((int)bitSet);
+                break;
+
+            case FactMetaData::valueTypeUint8:
+            case FactMetaData::valueTypeUint16:
+            case FactMetaData::valueTypeUint32:
+                typedBitSet = QVariant(bitSet);
+                break;
+
+            default:
+                break;
+            }
+            if (typedBitSet.isNull()) {
+                qCDebug(APMParameterMetaDataLog) << "Invalid type for bitmask, name:" << metaData->name()
+                                                 << " type:" << metaData->type();
+            }
+
             if (!ok) {
                 qCDebug(APMParameterMetaDataLog) << "Invalid bitmask value, name:" << metaData->name()
-                                                 << " type:" << metaData->type() << " value:" << bitmaskPair.first
-                                                 << " error:" << errorString;
+                                                 << " type:" << metaData->type() << " value:" << bitSet
+                                                 << " error: toUInt failed";
                 bitmaskStrings.clear();
                 bitmaskValues.clear();
                 break;
             }
 
-            if (metaData->convertAndValidateRaw(bitSet, false /* validate */, bitmaskValue, errorString)) {
+            if (metaData->convertAndValidateRaw(typedBitSet, false /* validate */, bitmaskValue, errorString)) {
                 bitmaskValues << bitmaskValue;
                 bitmaskStrings << bitmaskPair.second;
             } else {
                 qCDebug(APMParameterMetaDataLog) << "Invalid bitmask value, name:" << metaData->name()
-                                                 << " type:" << metaData->type() << " value:" << bitmaskPair.first
+                                                 << " type:" << metaData->type() << " value:" << typedBitSet
                                                  << " error:" << errorString;
                 bitmaskStrings.clear();
                 bitmaskValues.clear();