Merge pull request #8196 from Williangalvani/updateArdusub2

Update Ardusub Metadata and Tuning page for Sub 4.0

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -876,8 +876,11 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
 
     case MAV_TYPE_SUBMARINE:
-        if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.5.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6dev.xml");
+        if (vehicle->versionCompare(4, 0, 0) >= 0) { // 4.0.x
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.4.0.xml");
+        }
+        if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.6.x
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.6.xml");
         }
         if (vehicle->versionCompare(3, 5, 0) >= 0) { // 3.5.x
             return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Sub.3.5.xml");

src/FirmwarePlugin/APM/APMResources.qrc

@@ -56,7 +56,8 @@
         <file alias="APMParameterFactMetaData.Rover.4.0.xml">APMParameterFactMetaData.Rover.4.0.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="APMParameterFactMetaData.Sub.3.6dev.xml">APMParameterFactMetaData.Sub.3.6dev.xml</file>
+        <file alias="APMParameterFactMetaData.Sub.3.6.xml">APMParameterFactMetaData.Sub.3.6.xml</file>
+        <file alias="APMParameterFactMetaData.Sub.4.0.xml">APMParameterFactMetaData.Sub.4.0.xml</file>
         <file alias="Copter.OfflineEditing.params">Copter3.6.OfflineEditing.params</file>
         <file alias="Plane.OfflineEditing.params">Plane3.9.OfflineEditing.params</file>
         <file alias="Rover.OfflineEditing.params">Rover3.5.OfflineEditing.params</file>

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -118,6 +118,17 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):
         remapV3_6["BATT_LOW_MAH"] = QStringLiteral("FS_BATT_MAH");
         remapV3_6["BATT_LOW_VOLT"] = QStringLiteral("FS_BATT_VOLTAGE");
         remapV3_6["BATT_FS_LOW_ACT"] = QStringLiteral("FS_BATT_ENABLE");
+        remapV3_6["PSC_POSXY_P"] = QStringLiteral("POS_XY_P");
+        remapV3_6["PSC_POSZ_P"] = QStringLiteral("POS_Z_P");
+        remapV3_6["PSC_VELXY_P"] = QStringLiteral("VEL_XY_P");
+        remapV3_6["PSC_VELXY_I"] = QStringLiteral("VEL_XY_I");
+        remapV3_6["PSC_VELXY_IMAX"] = QStringLiteral("VEL_XY_IMAX");
+        remapV3_6["PSC_VELZ_P"] = QStringLiteral("VEL_Z_P");
+        remapV3_6["PSC_ACCZ_I"] = QStringLiteral("ACCEL_Z_I");
+        remapV3_6["PSC_ACCZ_D"] = QStringLiteral("ACCEL_Z_D");
+        remapV3_6["PSC_ACCZ_P"] = QStringLiteral("ACCEL_Z_P");
+        remapV3_6["PSC_ACCZ_IMAX"] = QStringLiteral("ACCEL_Z_IMAX");
+        remapV3_6["PSC_ACCZ_FILT"] = QStringLiteral("ACCEL_Z_FILT");
 
         _remapParamNameIntialized = true;
     }