Merge pull request #4591 from bluerobotics/param-metadata

Update parameter metadata for Sub

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -797,7 +797,11 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         }
         return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
     case MAV_TYPE_SUBMARINE:
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
+        if (vehicle->firmwareMajorVersion() < 3 || (vehicle->firmwareMajorVersion() == 3 && vehicle->firmwareMinorVersion() <= 4)) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.4.xml");
+        } else {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml");
+        }
     default:
         return QString();
     }

src/FirmwarePlugin/APM/APMResources.qrc

@@ -50,6 +50,7 @@
         <file alias="APMParameterFactMetaData.Rover.3.0.xml">APMParameterFactMetaData.Rover.3.0.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
         <file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
+        <file alias="APMParameterFactMetaData.Sub.3.5.xml">APMParameterFactMetaData.Sub.3.5.xml</file>
         <file alias="CopterGeoFenceEditor.qml">CopterGeoFenceEditor.qml</file>
         <file alias="PlaneGeoFenceEditor.qml">PlaneGeoFenceEditor.qml</file>
         <file alias="Copter.OfflineEditing.params">Copter3.4.OfflineEditing.params</file>

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -25,8 +25,9 @@
 ///     @author Rustom Jehangir <rusty@bluerobotics.com>
 
 #include "ArduSubFirmwarePlugin.h"
-#include "QGCApplication.h"
-#include "MissionManager.h"
+
+bool ArduSubFirmwarePlugin::_remapParamNameIntialized = false;
+FirmwarePlugin::remapParamNameMajorVersionMap_t ArduSubFirmwarePlugin::_remapParamName;
 
 APMSubMode::APMSubMode(uint32_t mode, bool settable) :
     APMCustomMode(mode, settable)
@@ -46,6 +47,29 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void)
     supportedFlightModes << APMSubMode(APMSubMode::STABILIZE ,true);
     supportedFlightModes << APMSubMode(APMSubMode::ALT_HOLD  ,true);
     setSupportedModes(supportedFlightModes);
+
+    if (!_remapParamNameIntialized) {
+        FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5];
+
+        remapV3_5["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
+        remapV3_5["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
+        remapV3_5["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
+        remapV3_5["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
+        remapV3_5["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
+        remapV3_5["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
+        remapV3_5["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
+        remapV3_5["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
+        remapV3_5["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
+        remapV3_5["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
+
+        _remapParamNameIntialized = true;
+    }
+}
+
+int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
+{
+    // Remapping supports up to 3.5
+    return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue;
 }
 
 int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -80,6 +80,12 @@ public:
     bool supportsJSButton(void);
 
     QString brandImage(const Vehicle* vehicle) const { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/APM/BrandImageSub"); }
+    const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
+    int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const final;
+
+private:
+    static bool _remapParamNameIntialized;
+    static FirmwarePlugin::remapParamNameMajorVersionMap_t  _remapParamName;
 };
 
 #endif