Param load from file: Support unknown params, diff ui (#9112)

ChangeLog.md

@@ -4,6 +4,8 @@ Note: This file only contains high level features or important fixes.
 
 ## 4.1 - Daily build
 
+* Load Parameters From File: Support loading parameters which don't currently existing on the vehicle.
+* Load Parameters From File: Add dialog which shows diff of file and vehicle params. Selective param upload from file.
 * Video Streaming: New camera control supports capturing individual images from the stream
 * Fly: Press and hold on arm button will change it to Force Arm. Click again to force arm.
 * VTOL: General setting for transition distance which affects Plan takeoff, landing pattern creation

qgroundcontrol.qrc

@@ -116,6 +116,7 @@
         <file alias="QGroundControl/Controls/ModeSwitchDisplay.qml">src/QmlControls/ModeSwitchDisplay.qml</file>
         <file alias="QGroundControl/Controls/MultiRotorMotorDisplay.qml">src/QmlControls/MultiRotorMotorDisplay.qml</file>
         <file alias="QGroundControl/Controls/OfflineMapButton.qml">src/QmlControls/OfflineMapButton.qml</file>
+        <file alias="QGroundControl/Controls/ParameterDiffDialog.qml">src/QmlControls/ParameterDiffDialog.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditor.qml">src/QmlControls/ParameterEditor.qml</file>
         <file alias="QGroundControl/Controls/ParameterEditorDialog.qml">src/QmlControls/ParameterEditorDialog.qml</file>
         <file alias="QGroundControl/Controls/PIDTuning.qml">src/QmlControls/PIDTuning.qml</file>

src/FactSystem/Fact.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef Fact_H
-#define Fact_H
+#pragma once
 
 #include "FactMetaData.h"
 
@@ -215,5 +210,3 @@ protected:
     FactValueSliderListModel*   _valueSliderModel;
     bool                        _ignoreQGCRebootRequired;
 };
-
-#endif

src/FactSystem/FactMetaData.cc

@@ -36,9 +36,8 @@ const qreal FactMetaData::UnitConsts_s::inchesToCentimeters =   2.54;
 const qreal FactMetaData::UnitConsts_s::ouncesToGrams =         28.3495;
 const qreal FactMetaData::UnitConsts_s::poundsToGrams =         453.592;
 
-
-static const char* kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
-static const char* kDefaultGroup    = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
+const char* FactMetaData::kDefaultCategory = QT_TRANSLATE_NOOP("FactMetaData", "Other");
+const char* FactMetaData::kDefaultGroup    = QT_TRANSLATE_NOOP("FactMetaData", "Misc");
 
 const char* FactMetaData::qgcFileType =                 "FactMetaData";
 const char* FactMetaData::_jsonMetaDataDefinesName =    "QGC.MetaData.Defines";

src/FactSystem/FactMetaData.h

@@ -194,6 +194,8 @@ public:
 
     static const int kDefaultDecimalPlaces = 3;  ///< Default value for decimal places if not specified/known
     static const int kUnknownDecimalPlaces = -1; ///< Number of decimal places to specify is not known
+    static const char* kDefaultCategory;
+    static const char* kDefaultGroup;
 
     static ValueType_t stringToType(const QString& typeString, bool& unknownType);
     static QString typeToString(ValueType_t type);

src/FactSystem/ParameterManager.h

@@ -27,10 +27,14 @@ Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)
 
+class ParameterEditorController;
+
 class ParameterManager : public QObject
 {
     Q_OBJECT
 
+    friend class ParameterEditorController;
+
 public:
     /// @param uas Uas which this set of facts is associated with
     ParameterManager(Vehicle* vehicle);
@@ -50,6 +54,8 @@ public:
     /// @return Location of parameter cache file
     static QString parameterCacheFile(int vehicleId, int componentId);
 
+    void mavlinkMessageReceived(mavlink_message_t message);
+
     QList<int> componentIds(void);
 
     /// Re-request the full set of parameters from the autopilot
@@ -78,70 +84,55 @@ public:
     ///     @param name: Parameter name
     Fact* getParameter(int componentId, const QString& paramName);
 
-    int  getComponentId(const QString& category);
-    QString getComponentCategory(int componentId);
-    const QMap<QString, QMap<QString, QStringList> >& getComponentCategoryMap(int componentId);
-
     /// Returns error messages from loading
     QString readParametersFromStream(QTextStream& stream);
 
     void writeParametersToStream(QTextStream& stream);
 
-    /// Returns the version number for the parameter set, -1 if not known
-    int parameterSetVersion(void) { return _parameterSetMajorVersion; }
-
     bool pendingWrites(void);
 
     Vehicle* vehicle(void) { return _vehicle; }
 
+    static MAV_PARAM_TYPE               factTypeToMavType(FactMetaData::ValueType_t factType);
+    static FactMetaData::ValueType_t    mavTypeToFactType(MAV_PARAM_TYPE mavType);
+
 signals:
     void parametersReadyChanged     (bool parametersReady);
     void missingParametersChanged   (bool missingParameters);
     void loadProgressChanged        (float value);
     void pendingWritesChanged       (bool pendingWrites);
+    void factAdded                  (int componentId, Fact* fact);
 
-protected:
-    Vehicle*            _vehicle;
-    MAVLinkProtocol*    _mavlink;
-
-    void _parameterUpdate       (int vehicleId, int componentId, QString parameterName, int parameterCount, int parameterId, int mavType, QVariant value);
-    void _valueUpdated          (const QVariant& value);
-    void _waitingParamTimeout   (void);
-    void _tryCacheLookup        (void);
-    void _initialRequestTimeout (void);
+private slots:
+    void    _factRawValueUpdated                (const QVariant& rawValue);
 
 private:
-    static QVariant         _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
-
+    void    _handleParamValue                   (int componentId, QString parameterName, int parameterCount, int parameterIndex, MAV_PARAM_TYPE mavParamType, QVariant parameterValue);
+    void    _factRawValueUpdateWorker           (int componentId, const QString& name, FactMetaData::ValueType_t valueType, const QVariant& rawValue);
+    void    _waitingParamTimeout                (void);
+    void    _tryCacheLookup                     (void);
+    void    _initialRequestTimeout              (void);
     int     _actualComponentId                  (int componentId);
-    void    _setupComponentCategoryMap          (int componentId);
-    void    _setupDefaultComponentCategoryMap   (void);
     void    _readParameterRaw                   (int componentId, const QString& paramName, int paramIndex);
-    void    _writeParameterRaw                  (int componentId, const QString& paramName, const QVariant& value);
+    void    _sendParamSetToVehicle              (int componentId, const QString& paramName, FactMetaData::ValueType_t valueType, const QVariant& value);
     void    _writeLocalParamCache               (int vehicleId, int componentId);
     void    _tryCacheHashLoad                   (int vehicleId, int componentId, QVariant hash_value);
     void    _loadMetaData                       (void);
     void    _clearMetaData                      (void);
-    void    _addMetaDataToDefaultComponent      (void);
     QString _remapParamNameToVersion            (const QString& paramName);
     void    _loadOfflineEditingParams           (void);
     QString _logVehiclePrefix                   (int componentId);
     void    _setLoadProgress                    (double loadProgress);
     bool    _fillIndexBatchQueue                (bool waitingParamTimeout);
     void    _updateProgressBar                  (void);
+    void    _checkInitialLoadComplete           (void);
 
-    MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
-    FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
-    void _checkInitialLoadComplete(void);
+    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
 
-    /// First mapping is by component id
-    /// Second mapping is parameter name, to Fact* in QVariant
-    QMap<int, QVariantMap>            _mapParameterName2Variant;
+    Vehicle*            _vehicle;
+    MAVLinkProtocol*    _mavlink;
 
-    // List of category map of component parameters
-    typedef QMap<QString, QMap<QString, QStringList>>   ComponentCategoryMapType; //<Key: category, Value: Map< Key: group, Value: parameter names list >>
-    QMap<int, ComponentCategoryMapType>                 _componentCategoryMaps;
-    QHash<QString, int>                                 _componentCategoryHash;
+    QMap<int /* comp id */, QMap<QString /* parameter name */, Fact*>> _mapCompId2FactMap;
 
     double      _loadProgress;                  ///< Parameter load progess, [0.0,1.0]
     bool        _parametersReady;               ///< true: parameter load complete
@@ -151,8 +142,6 @@ private:
     bool        _saveRequired;                  ///< true: _saveToEEPROM should be called
     bool        _metaDataAddedToFacts;          ///< true: FactMetaData has been adde to the default component facts
     bool        _logReplay;                     ///< true: running with log replay link
-    QString     _versionParam;                  ///< Parameter which contains parameter set version
-    int         _parameterSetMajorVersion;      ///< Version for parameter set, -1 if not known
 
     typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
     typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -98,7 +98,6 @@ public:
     void                initializeVehicle               (Vehicle* vehicle) override;
     bool                sendHomePositionToVehicle       (void) override;
     QString             missionCommandOverrides         (QGCMAVLink::VehicleClass_t vehicleClass) const override;
-    QString             getVersionParam                 (void) override { return QStringLiteral("SYSID_SW_MREV"); }
     QString             _internalParameterMetaDataFile  (Vehicle* vehicle) override;
     FactMetaData*       _getMetaDataForFact             (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
     void                _getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) override { APMParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }

src/FirmwarePlugin/APM/APMParameterMetaData.cc

@@ -242,9 +242,6 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                 QString group = _groupFromParameterName(name);
 
                 QString category = xml.attributes().value("user").toString();
-                if (category.isEmpty()) {
-                    category = QStringLiteral("Advanced");
-                }
 
                 QString shortDescription = xml.attributes().value("humanName").toString();
                 QString longDescription = xml.attributes().value("documentation").toString();
@@ -266,7 +263,9 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                 }
                 qCDebug(APMParameterMetaDataVerboseLog) << "inserting metadata for field" << name;
                 rawMetaData->name = name;
-                rawMetaData->category = category;
+                if (!category.isEmpty()) {
+                    rawMetaData->category = category;
+                }
                 rawMetaData->group = group;
                 rawMetaData->shortDescription = shortDescription;
                 rawMetaData->longDescription = longDescription;
@@ -448,7 +447,9 @@ FactMetaData* APMParameterMetaData::getMetaDataForFact(const QString& name, MAV_
     }
 
     metaData->setName(rawMetaData->name);
-    metaData->setCategory(rawMetaData->category);
+    if (!rawMetaData->category.isEmpty()) {
+        metaData->setCategory(rawMetaData->category);
+    }
     metaData->setGroup(rawMetaData->group);
     metaData->setVehicleRebootRequired(rawMetaData->rebootRequired);
 

src/FirmwarePlugin/FirmwarePlugin.h

@@ -209,9 +209,6 @@ public:
     ///     false: Do not send first item to vehicle, sequence numbers must be adjusted
     virtual bool sendHomePositionToVehicle(void);
 
-    /// Returns the parameter which is used to identify the version number of parameter set
-    virtual QString getVersionParam(void) { return QString(); }
-
     /// Returns the parameter set version info pulled from inside the meta data file. -1 if not found.
     /// Note: The implementation for this must not vary by vehicle type.
     /// Important: Only CompInfoParam code should use this method

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -56,7 +56,6 @@ public:
     void                initializeVehicle               (Vehicle* vehicle) override;
     bool                sendHomePositionToVehicle       (void) override;
     QString             missionCommandOverrides         (QGCMAVLink::VehicleClass_t vehicleClass) const override;
-    QString             getVersionParam                 (void) override { return QString("SYS_PARAM_VER"); }
     FactMetaData*       _getMetaDataForFact             (QObject* parameterMetaData, const QString& name, FactMetaData::ValueType_t type, MAV_TYPE vehicleType) override;
     QString             _internalParameterMetaDataFile  (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
     void                _getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion) override;

src/FirmwarePlugin/PX4/PX4ParameterMetaData.h

@@ -7,9 +7,7 @@
  *
  ****************************************************************************/
 
-
-#ifndef PX4ParameterMetaData_H
-#define PX4ParameterMetaData_H
+#pragma once
 
 #include <QObject>
 #include <QMap>
@@ -60,5 +58,3 @@ private:
     bool                                _parameterMetaDataLoaded        = false;    ///< true: parameter meta data already loaded
     FactMetaData::NameToMetaDataMap_t   _mapParameterName2FactMetaData;             ///< Maps from a parameter name to FactMetaData
 };
-
-#endif

src/QmlControls/ParameterDiffDialog.qml

+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.12
+import QtQuick.Layouts  1.2
+import QtQuick.Controls 2.5
+import QtQuick.Dialogs  1.3
+
+import QGroundControl               1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.FactSystem    1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Controllers   1.0
+
+QGCPopupDialog {
+    title:      qsTr("Load Parameters")
+    buttons:    StandardButton.Cancel | (paramController.diffList.count ? StandardButton.Ok : 0)
+
+    property var paramController
+
+    function accept() {
+        hideDialog()
+        paramController.sendDiff();
+    }
+
+    Component.onDestruction: paramController.clearDiff();
+
+    ColumnLayout {
+        spacing: ScreenTools.defaultDialogControlSpacing
+
+        QGCLabel {
+            Layout.preferredWidth:  mainGrid.visible ? mainGrid.width : ScreenTools.defaultFontPixelWidth * 40
+            wrapMode:               Text.WordWrap
+            text:                   paramController.diffList.count ?
+                                        qsTr("The following parameters from the loaded file differ from what is currently set on the Vehicle. Click 'Ok' to update them on the Vehicle.") :
+                                        qsTr("There are no differences between the file loaded and the current settings on the Vehicle.")
+        }
+
+        GridLayout {
+            id:         mainGrid
+            rows:       paramController.diffList.count + 1
+            columns:    paramController.diffMultipleComponents ? 5 : 4
+            flow:       GridLayout.TopToBottom
+            visible:    paramController.diffList.count
+
+            QGCCheckBox {
+                checked: true
+                onClicked: {
+                    for (var i=0; i<paramController.diffList.count; i++) {
+                        paramController.diffList.get(i).load = checked
+                    }
+                }
+            }
+            Repeater {
+                model: paramController.diffList
+                QGCCheckBox {
+                    checked:    object.load
+                    onClicked:  object.load = checked
+                }
+            }
+
+            Repeater {
+                model: paramController.diffMultipleComponents ? 1 : 0
+                QGCLabel { text: qsTr("Comp ID") }
+            }
+            Repeater {
+                model: paramController.diffMultipleComponents ? paramController.diffList : 0
+                QGCLabel { text: object.componentId }
+            }
+
+            QGCLabel { text: qsTr("Name") }
+            Repeater {
+                model: paramController.diffList
+                QGCLabel { text: object.name }
+            }
+
+            QGCLabel { text: qsTr("File") }
+            Repeater {
+                model: paramController.diffList
+                QGCLabel { text: object.fileValue + " " + object.units }
+            }
+
+            QGCLabel { text: qsTr("Vehicle") }
+            Repeater {
+                model: paramController.diffList
+                QGCLabel { text: object.noVehicleValue ? qsTr("N/A") : object.vehicleValue + " " + object.units }
+            }
+        }
+    }
+}

src/QmlControls/ParameterEditor.qml

@@ -26,15 +26,15 @@ Item {
     property Fact   _editorDialogFact: Fact { }
     property int    _rowHeight:         ScreenTools.defaultFontPixelHeight * 2
     property int    _rowWidth:          10 // Dynamic adjusted at runtime
-    property bool   _searchFilter:      searchText.text.trim() != ""   ///< true: showing results of search
+    property bool   _searchFilter:      searchText.text.trim() != "" || controller.showModifiedOnly  ///< true: showing results of search
     property var    _searchResults      ///< List of parameter names from search results
     property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
     property bool   _showRCToParam:     _activeVehicle.px4Firmware
     property var    _appSettings:       QGroundControl.settingsManager.appSettings
+    property var    _controller:        controller
 
     ParameterEditorController {
-        id:                 controller
-        onShowErrorMessage: mainWindow.showMessageDialog(qsTr("Parameter Load Errors"), errorMsg)
+        id: controller
     }
 
     ExclusiveGroup { id: sectionGroup }
@@ -82,12 +82,11 @@ Item {
         }
 
         QGCCheckBox {
-            text:       qsTr("Show modified only")
-            checked:    controller.showModifiedOnly
+            text:                   qsTr("Show modified only")
             anchors.verticalCenter: parent.verticalCenter
-            onClicked: {
-                controller.showModifiedOnly = !controller.showModifiedOnly
-            }
+            checked:                controller.showModifiedOnly
+            onClicked:              controller.showModifiedOnly = checked
+            visible:                QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
         }
     } // Row - Header
 
@@ -155,7 +154,7 @@ Item {
         pixelAligned:       true
         contentHeight:      groupedViewCategoryColumn.height
         flickableDirection: Flickable.VerticalFlick
-        visible:            !_searchFilter && !controller.showModifiedOnly
+        visible:            !_searchFilter
 
         ColumnLayout {
             id:             groupedViewCategoryColumn
@@ -170,41 +169,36 @@ Item {
                     Layout.fillWidth:   true
                     spacing:            Math.ceil(ScreenTools.defaultFontPixelHeight * 0.25)
 
-                    readonly property string category: modelData
 
                     SectionHeader {
                         id:             categoryHeader
                         anchors.left:   parent.left
                         anchors.right:  parent.right
-                        text:           category
-                        checked:        controller.currentCategory === text
+                        text:           object.name
+                        checked:        object == controller.currentCategory
                         exclusiveGroup: sectionGroup
 
                         onCheckedChanged: {
                             if (checked) {
-                                controller.currentCategory  = category
-                                controller.currentGroup     = controller.getGroupsForCategory(category)[0]
+                                controller.currentCategory  = object
                             }
                         }
                     }
 
                     Repeater {
-                        model: categoryHeader.checked ? controller.getGroupsForCategory(category) : 0
+                        model: categoryHeader.checked ? object.groups : 0
 
                         QGCButton {
                             width:          ScreenTools.defaultFontPixelWidth * 25
-                            text:           groupName
+                            text:           object.name
                             height:         _rowHeight
-                            checked:        controller.currentGroup === text
+                            checked:        object == controller.currentGroup
                             autoExclusive:  true
 
-                            readonly property string groupName: modelData
-
                             onClicked: {
                                 if (!checked) _rowWidth = 10
                                 checked = true
-                                controller.currentCategory  = category
-                                controller.currentGroup     = groupName
+                                controller.currentGroup = object
                             }
                         }
                     }
@@ -217,7 +211,7 @@ Item {
     QGCListView {
         id:                 editorListView
         anchors.leftMargin: ScreenTools.defaultFontPixelWidth
-        anchors.left:       (_searchFilter || controller.showModifiedOnly) ? parent.left : groupScroll.right
+        anchors.left:       _searchFilter ? parent.left : groupScroll.right
         anchors.right:      parent.right
         anchors.top:        header.bottom
         anchors.bottom:     parent.bottom
@@ -295,8 +289,10 @@ Item {
         }
 
         onAcceptedForLoad: {
-            controller.loadFromFile(file)
             close()
+            if (controller.buildDiffFromFile(file)) {
+                mainWindow.showPopupDialogFromComponent(parameterDiffDialog)
+            }
         }
     }
 
@@ -355,4 +351,12 @@ Item {
             }
         }
     }
+
+    Component {
+        id: parameterDiffDialog
+
+        ParameterDiffDialog {
+            paramController: _controller
+        }
+    }
 }

src/QmlControls/ParameterEditorController.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef PARAMETEREDITORCONTROLLER_H
-#define PARAMETEREDITORCONTROLLER_H
+#pragma once
 
 #include <QObject>
 #include <QList>
@@ -23,6 +18,69 @@
 #include "QmlObjectListModel.h"
 #include "ParameterManager.h"
 
+class ParameterEditorGroup : public QObject
+{
+    Q_OBJECT
+
+public:
+    ParameterEditorGroup(QObject* parent) : QObject(parent) { }
+
+    Q_PROPERTY(QString              name    MEMBER name     CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  facts   READ getFacts   CONSTANT)
+
+    QmlObjectListModel*  getFacts(void) { return &facts; }
+
+    int                 componentId;
+    QString             name;
+    QmlObjectListModel  facts;
+};
+
+class ParameterEditorCategory : public QObject
+{
+    Q_OBJECT
+
+public:
+    ParameterEditorCategory(QObject* parent) : QObject(parent) { }
+
+    Q_PROPERTY(QString              name    MEMBER name     CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  groups  READ getGroups  CONSTANT)
+
+    QmlObjectListModel*  getGroups(void) { return &groups; }
+
+    QString             name;
+    QmlObjectListModel  groups;
+    QMap<QString, ParameterEditorGroup*> mapGroupName2Group;
+};
+
+class ParameterEditorDiff : public QObject
+{
+    Q_OBJECT
+
+public:
+    ParameterEditorDiff(QObject* parent) : QObject(parent) { }
+
+    Q_PROPERTY(int      componentId         MEMBER componentId      CONSTANT)
+    Q_PROPERTY(QString  name                MEMBER name             CONSTANT)
+    Q_PROPERTY(QString  fileValue           MEMBER fileValue        CONSTANT)
+    Q_PROPERTY(QString  vehicleValue        MEMBER vehicleValue     CONSTANT)
+    Q_PROPERTY(bool     noVehicleValue      MEMBER noVehicleValue   CONSTANT)
+    Q_PROPERTY(QString  units               MEMBER units            CONSTANT)
+    Q_PROPERTY(bool     load                MEMBER load             NOTIFY loadChanged)
+
+    int                         componentId;
+    QString                     name;
+    FactMetaData::ValueType_t   valueType;
+    QString                     fileValue;
+    QVariant                    fileValueVar;
+    QString                     vehicleValue;
+    bool                        noVehicleValue  = false;
+    QString                     units;
+    bool                        load            = true;
+
+signals:
+    void loadChanged(bool load);
+};
+
 class ParameterEditorController : public FactPanelController
 {
     Q_OBJECT
@@ -31,46 +89,67 @@ public:
     ParameterEditorController(void);
     ~ParameterEditorController();
 
-    Q_PROPERTY(QString              searchText          MEMBER _searchText          NOTIFY searchTextChanged)
-    Q_PROPERTY(QString              currentCategory     MEMBER _currentCategory     NOTIFY currentCategoryChanged)
-    Q_PROPERTY(QString              currentGroup        MEMBER _currentGroup        NOTIFY currentGroupChanged)
-    Q_PROPERTY(QmlObjectListModel*  parameters          MEMBER _parameters          CONSTANT)
-    Q_PROPERTY(QStringList          categories          MEMBER _categories          CONSTANT)
-    Q_PROPERTY(bool                 showModifiedOnly    MEMBER _showModifiedOnly    NOTIFY showModifiedOnlyChanged)
+    Q_PROPERTY(QString              searchText          MEMBER _searchText                                          NOTIFY searchTextChanged)
+    Q_PROPERTY(QmlObjectListModel*  categories          READ categories                                             CONSTANT)
+    Q_PROPERTY(QObject*             currentCategory     READ currentCategory        WRITE setCurrentCategory        NOTIFY currentCategoryChanged)
+    Q_PROPERTY(QObject*             currentGroup        READ currentGroup           WRITE setCurrentGroup           NOTIFY currentGroupChanged)
+    Q_PROPERTY(QmlObjectListModel*  parameters          MEMBER _parameters                                          NOTIFY parametersChanged)
+    Q_PROPERTY(bool                 showModifiedOnly    MEMBER _showModifiedOnly                                    NOTIFY showModifiedOnlyChanged)
 
-    Q_INVOKABLE QStringList getGroupsForCategory(const QString& category);
-    Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
+    // These property are related to the diff associated with a load from file
+    Q_PROPERTY(bool                 diffOtherVehicle        MEMBER _diffOtherVehicle        NOTIFY diffOtherVehicleChanged)
+    Q_PROPERTY(bool                 diffMultipleComponents  MEMBER _diffMultipleComponents  NOTIFY diffMultipleComponentsChanged)
+    Q_PROPERTY(QmlObjectListModel*  diffList                READ diffList                   CONSTANT)
 
-    Q_INVOKABLE void saveToFile(const QString& filename);
-    Q_INVOKABLE void loadFromFile(const QString& filename);
-    Q_INVOKABLE void refresh(void);
-    Q_INVOKABLE void resetAllToDefaults(void);
-    Q_INVOKABLE void resetAllToVehicleConfiguration(void);
-    Q_INVOKABLE void setRCToParam(const QString& paramName);
+    Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
 
-    QList<QObject*> model(void);
+    Q_INVOKABLE void saveToFile                     (const QString& filename);
+    Q_INVOKABLE bool buildDiffFromFile              (const QString& filename);
+    Q_INVOKABLE void clearDiff                      (void);
+    Q_INVOKABLE void sendDiff                       (void);
+    Q_INVOKABLE void refresh                        (void);
+    Q_INVOKABLE void resetAllToDefaults             (void);
+    Q_INVOKABLE void resetAllToVehicleConfiguration (void);
+
+    QObject*            currentCategory     (void) { return _currentCategory; }
+    QObject*            currentGroup        (void) { return _currentGroup; }
+    QmlObjectListModel* categories          (void) { return &_categories; }
+    QmlObjectListModel* diffList            (void) { return &_diffList; }
+    void                setCurrentCategory  (QObject* currentCategory);
+    void                setCurrentGroup     (QObject* currentGroup);
 
 signals:
-    void searchTextChanged(QString searchText);
-    void currentCategoryChanged(QString category);
-    void currentGroupChanged(QString group);
-    void showErrorMessage(const QString& errorMsg);
-    void showModifiedOnlyChanged();
+    void searchTextChanged              (QString searchText);
+    void currentCategoryChanged         (void);
+    void currentGroupChanged            (void);
+    void showModifiedOnlyChanged        (void);
+    void diffOtherVehicleChanged        (bool diffOtherVehicle);
+    void diffMultipleComponentsChanged  (bool diffMultipleComponents);
+    void parametersChanged              (void);
 
 private slots:
-    void _updateParameters(void);
+    void _currentCategoryChanged(void);
+    void _currentGroupChanged   (void);
+    void _searchTextChanged     (void);
+    void _buildLists            (void);
+    void _buildListsForComponent(int compId);
+    void _factAdded             (int compId, Fact* fact);
 
 private:
     bool _shouldShow(Fact *fact);
 
 private:
-    QStringList         _categories;
-    QString             _searchText;
-    QString             _currentCategory;
-    QString             _currentGroup;
-    QmlObjectListModel* _parameters;
-    ParameterManager*   _parameterMgr;
-    bool                _showModifiedOnly;
+    ParameterManager*           _parameterMgr           = nullptr;
+    QString                     _searchText;
+    ParameterEditorCategory*    _currentCategory        = nullptr;
+    ParameterEditorGroup*       _currentGroup           = nullptr;
+    bool                        _showModifiedOnly       = false;
+    bool                        _diffOtherVehicle       = false;
+    bool                        _diffMultipleComponents = false;
+
+    QmlObjectListModel          _categories;
+    QmlObjectListModel          _diffList;
+    QmlObjectListModel          _searchParameters;
+    QmlObjectListModel*         _parameters             = nullptr;
+    QMap<QString, ParameterEditorCategory*> _mapCategoryName2Category;
 };
-
-#endif

src/QmlControls/QGCTabButton.qml

@@ -12,6 +12,7 @@ TabButton {
     id:             control
     font.pointSize: ScreenTools.defaultFontPointSize
     font.family:    ScreenTools.normalFontFamily
+    icon.color:     _showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
 
     property bool _showHighlight: (pressed | hovered | checked)
 
@@ -22,7 +23,6 @@ TabButton {
         mirrored:   control.mirrored
         display:    control.display
         icon:       control.icon
-        text:       control.text
         font:       control.font
         color:      _showHighlight ? qgcPal.buttonHighlightText : qgcPal.buttonText
     }

src/QmlControls/QGroundControl/Controls/qmldir

@@ -43,6 +43,7 @@ MissionItemStatus                       1.0 MissionItemStatus.qml
 ModeSwitchDisplay                       1.0 ModeSwitchDisplay.qml
 MultiRotorMotorDisplay                  1.0 MultiRotorMotorDisplay.qml
 OfflineMapButton                        1.0 OfflineMapButton.qml
+ParameterDiffDialog                     1.0 ParameterDiffDialog.qml
 ParameterEditor                         1.0 ParameterEditor.qml
 ParameterEditorDialog                   1.0 ParameterEditorDialog.qml
 PIDTuning                               1.0 PIDTuning.qml

src/Vehicle/CompInfoParam.cc

@@ -89,9 +89,14 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa
 {
     FactMetaData* factMetaData = nullptr;
 
-    if (_opaqueParameterMetaData) {
-        factMetaData = vehicle->firmwarePlugin()->_getMetaDataForFact(_opaqueParameterMetaData, name, type, vehicle->vehicleType());
-    } else {
+    if (_noJsonMetadata) {
+        QObject* opaqueMetaData = _getOpaqueParameterMetaData();
+        if (opaqueMetaData) {
+            factMetaData = vehicle->firmwarePlugin()->_getMetaDataForFact(opaqueMetaData, name, type, vehicle->vehicleType());
+        }
+    }
+
+    if (!factMetaData) {
         if (_nameToMetaDataMap.contains(name)) {
             factMetaData = _nameToMetaDataMap[name];
         } else {
@@ -122,22 +127,31 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa
 
             if (!factMetaData) {
                 factMetaData = new FactMetaData(type, this);
+                int i = name.indexOf("_");
+                if (i > 0) {
+                    factMetaData->setGroup(name.left(i));
+                }
+                if (compId != MAV_COMP_ID_AUTOPILOT1) {
+                    factMetaData->setCategory(tr("Component %1").arg(compId));
+                }
             }
             _nameToMetaDataMap[name] = factMetaData;
         }
     }
 
-
     return factMetaData;
 }
 
 bool CompInfoParam::_isParameterVolatile(const QString& name)
 {
-    if (_opaqueParameterMetaData) {
-        return vehicle->firmwarePlugin()->_isParameterVolatile(_opaqueParameterMetaData, name, vehicle->vehicleType());
-    } else {
-        return _nameToMetaDataMap.contains(name) ? _nameToMetaDataMap[name]->volatileValue() : false;
+    if (_noJsonMetadata) {
+        QObject* opaqueMetaData = _getOpaqueParameterMetaData();
+        if (opaqueMetaData) {
+            return vehicle->firmwarePlugin()->_isParameterVolatile(opaqueMetaData, name, vehicle->vehicleType());
+        }
     }
+
+    return _nameToMetaDataMap.contains(name) ? _nameToMetaDataMap[name]->volatileValue() : false;
 }
 
 FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmwareType)
@@ -148,13 +162,14 @@ FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmw
     return pluginMgr->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
 }
 
-QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion)
+QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int& majorVersion, int& minorVersion)
 {
-    bool            cacheHit = false;
-    FirmwarePlugin* plugin = _anyVehicleTypeFirmwarePlugin(firmwareType);
+    bool            cacheHit            = false;
+    int             wantedMajorVersion  = 1;
+    FirmwarePlugin* fwPlugin            = _anyVehicleTypeFirmwarePlugin(firmwareType);
 
     if (firmwareType != MAV_AUTOPILOT_PX4) {
-        return plugin->_internalParameterMetaDataFile(vehicle);
+        return fwPlugin->_internalParameterMetaDataFile(vehicle);
     } else {
         // Only PX4 support the old style cached metadata
         QSettings   settings;
@@ -164,7 +179,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
         int cacheMinorVersion, cacheMajorVersion;
         QFile cacheFile(cacheDir.filePath(QString("%1.%2.%3.xml").arg(_cachedMetaDataFilePrefix).arg(firmwareType).arg(wantedMajorVersion)));
         if (cacheFile.exists()) {
-            plugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), cacheMajorVersion, cacheMinorVersion);
+            fwPlugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), cacheMajorVersion, cacheMinorVersion);
             if (wantedMajorVersion != cacheMajorVersion) {
                 qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << cacheMajorVersion << wantedMajorVersion;
             } else {
@@ -196,7 +211,7 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
                 // We have a cache hit on a lower major version, read minor version as well
                 int majorVersion;
                 cacheFile.setFileName(cacheDir.filePath(cacheHits[cacheHitIndex]));
-                plugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), majorVersion, cacheMinorVersion);
+                fwPlugin->_getParameterMetaDataVersionInfo(cacheFile.fileName(), majorVersion, cacheMinorVersion);
                 if (majorVersion != cacheMajorVersion) {
                     qWarning() << "Parameter meta data cache corruption:" << cacheFile.fileName() << "major version does not match file name" << "actual:excepted" << majorVersion << cacheMajorVersion;
                     cacheHit = false;
@@ -208,8 +223,8 @@ QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT fi
         }
 
         int internalMinorVersion, internalMajorVersion;
-        QString internalMetaDataFile = plugin->_internalParameterMetaDataFile(vehicle);
-        plugin->_getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
+        QString internalMetaDataFile = fwPlugin->_internalParameterMetaDataFile(vehicle);
+        fwPlugin->_getParameterMetaDataVersionInfo(internalMetaDataFile, internalMajorVersion, internalMinorVersion);
         qCDebug(CompInfoParamLog) << "Internal metadata file:major:minor" << internalMetaDataFile << internalMajorVersion << internalMinorVersion;
         if (cacheHit) {
             // Cache hit is available, we need to check if internal meta data is a better match, if so use internal version
@@ -254,11 +269,15 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile)
 
     int newMajorVersion, newMinorVersion;
     plugin->_getParameterMetaDataVersionInfo(metaDataFile, newMajorVersion, newMinorVersion);
+    if (newMajorVersion != 1) {
+        newMajorVersion = 1;
+        qgcApp()->showAppMessage(tr("Internal Error: Parameter MetaData major must be 1"));
+    }
     qCDebug(CompInfoParamLog) << "ParameterManager::cacheMetaDataFile file:major;minor" << metaDataFile << newMajorVersion << newMinorVersion;
 
     // Find the cache hit closest to this new file
     int cacheMajorVersion, cacheMinorVersion;
-    QString cacheHit = _parameterMetaDataFile(nullptr, MAV_AUTOPILOT_PX4, newMajorVersion, cacheMajorVersion, cacheMinorVersion);
+    QString cacheHit = _parameterMetaDataFile(nullptr, MAV_AUTOPILOT_PX4, cacheMajorVersion, cacheMinorVersion);
     qCDebug(CompInfoParamLog) << "ParameterManager::cacheMetaDataFile cacheHit file:firmware:major;minor" << cacheHit << cacheMajorVersion << cacheMinorVersion;
 
     bool cacheNewFile = false;
@@ -290,28 +309,19 @@ void CompInfoParam::_cachePX4MetaDataFile(const QString& metaDataFile)
     }
 }
 
-void CompInfoParam::_parameterMajorVersionKnown(int wantedMajorVersion)
+QObject* CompInfoParam::_getOpaqueParameterMetaData(void)
 {
-    if (_noJsonMetadata) {
-        if (_opaqueParameterMetaData) {
-            return;
-        }
-
-        QString metaDataFile;
-        int     majorVersion, minorVersion;
+    if (!_noJsonMetadata) {
+        qWarning() << "CompInfoParam::_getOpaqueParameterMetaData _noJsonMetadata == false";
+    }
 
+    if (!_opaqueParameterMetaData && compId == MAV_COMP_ID_AUTOPILOT1) {
         // Load best parameter meta data set
-        metaDataFile = _parameterMetaDataFile(vehicle, vehicle->firmwareType(), wantedMajorVersion, majorVersion, minorVersion);
-        qCDebug(CompInfoParamLog) << "Loading meta data the old way file:major:minor" << metaDataFile << majorVersion << minorVersion;
+        int majorVersion, minorVersion;
+        QString metaDataFile = _parameterMetaDataFile(vehicle, vehicle->firmwareType(), majorVersion, minorVersion);
+        qCDebug(CompInfoParamLog) << "Loading meta data the old way file" << metaDataFile;
         _opaqueParameterMetaData = vehicle->firmwarePlugin()->_loadParameterMetaData(metaDataFile);
     }
-}
 
-void CompInfoParam::_clearPX4ParameterMetaData (void)
-{
-    if (_opaqueParameterMetaData) {
-        qCDebug(CompInfoParamLog) << "_clearPX4ParameterMetaData";
-        _opaqueParameterMetaData->deleteLater();
-        _opaqueParameterMetaData = nullptr;
-    }
+    return _opaqueParameterMetaData;
 }

src/Vehicle/CompInfoParam.h

@@ -36,13 +36,14 @@ public:
 
     // The following methods are used to support the old non-COMPONENT_INFORMATION based mechanism to get parameter meta data
     bool _isParameterVolatile       (const QString& name);
-    void _parameterMajorVersionKnown(int wantedMajorVersion);
-    void _clearPX4ParameterMetaData (void);
+
     static void _cachePX4MetaDataFile(const QString& metaDataFile);
 
 private:
+    QObject* _getOpaqueParameterMetaData(void);
+
     static FirmwarePlugin*  _anyVehicleTypeFirmwarePlugin   (MAV_AUTOPILOT firmwareType);
-    static QString          _parameterMetaDataFile          (Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int wantedMajorVersion, int& majorVersion, int& minorVersion);
+    static QString          _parameterMetaDataFile          (Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int& majorVersion, int& minorVersion);
 
     typedef QPair<QString /* indexed name */, FactMetaData*> RegexFactMetaDataPair_t;
 

src/Vehicle/ComponentInformationManager.cc

@@ -102,7 +102,11 @@ bool ComponentInformationManager::_isCompTypeSupported(COMP_METADATA_TYPE type)
 
 CompInfoParam* ComponentInformationManager::compInfoParam(uint8_t compId)
 {
-    return _compInfoMap.contains(compId) && _compInfoMap[compId].contains(COMP_METADATA_TYPE_PARAMETER) ? qobject_cast<CompInfoParam*>(_compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER]) : nullptr;
+    if (!_compInfoMap.contains(compId)) {
+        // Create default info
+        _compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER] = new CompInfoParam(compId, _vehicle, this);
+    }
+    return qobject_cast<CompInfoParam*>(_compInfoMap[compId][COMP_METADATA_TYPE_PARAMETER]);
 }
 
 CompInfoVersion* ComponentInformationManager::compInfoVersion(uint8_t compId)

src/Vehicle/Vehicle.cc

@@ -601,6 +601,7 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
     _ftpManager->mavlinkMessageReceived(message);
+    _parameterManager->mavlinkMessageReceived(message);
 
     _waitForMavlinkMessageMessageReceived(message);
 
@@ -2616,7 +2617,7 @@ void Vehicle::_sendMavCommandWorker(bool commandInt, bool requestMessage, bool s
             emit mavCommandResult(_id, targetCompId, command, MAV_RESULT_FAILED, failureCode);
         }
         if (showError) {
-            qgcApp()->showAppMessage(tr("Unabled to send command: %1. %2").arg(compIdAll ? tr("Internal error") : tr("Waiting on previous response to same command.")));
+            qgcApp()->showAppMessage(tr("Unable to send command: %1.").arg(compIdAll ? tr("Internal error - MAV_COMP_ID_ALL not supported") : tr("Waiting on previous response to same command.")));
         }
 
         return;

src/Vehicle/Vehicle.h

@@ -633,7 +633,7 @@ public:
     typedef enum {
         MavCmdResultCommandResultOnly,          ///< commandResult specifies full success/fail info
         MavCmdResultFailureNoResponseToCommand, ///< No response from vehicle to command
-        MavCmdResultFailureDuplicateCommand,    ///< Unabled to send command since duplicate is already being waited on for response
+        MavCmdResultFailureDuplicateCommand,    ///< Unable to send command since duplicate is already being waited on for response
     } MavCmdResultFailureCode_t;
 
     /// Callback for sendMavCommandWithHandler

src/VehicleSetup/FirmwareImage.cc

@@ -238,7 +238,7 @@ bool FirmwareImage::_px4Load(const QString& imageFilename)
     QStringList requiredKeys;
     requiredKeys << _jsonBoardIdKey << _jsonImageKey << _jsonImageSizeKey;
     if (!JsonHelper::validateRequiredKeys(px4Json, requiredKeys, errorString)) {
-        emit statusMessage(tr("Firmware file mission required key: %1").arg(errorString));
+        emit statusMessage(tr("Firmware file missing required key: %1").arg(errorString));
         return false;
     }
 

src/comm/MockLink.cc

@@ -1567,13 +1567,15 @@ bool MockLink::_handleRequestMessage(const mavlink_command_long_t& request, bool
 
     switch ((int)request.param1) {
     case MAVLINK_MSG_ID_COMPONENT_INFORMATION:
-        switch (static_cast<int>(request.param2)) {
-        case COMP_METADATA_TYPE_VERSION:
-            _sendVersionMetaData();
-            return true;
-        case COMP_METADATA_TYPE_PARAMETER:
-            _sendParameterMetaData();
-            return true;
+        if (_firmwareType == MAV_AUTOPILOT_PX4) {
+            switch (static_cast<int>(request.param2)) {
+            case COMP_METADATA_TYPE_VERSION:
+                _sendVersionMetaData();
+                return true;
+            case COMP_METADATA_TYPE_PARAMETER:
+                _sendParameterMetaData();
+                return true;
+            }
         }
         break;
     case MAVLINK_MSG_ID_DEBUG:

src/uas/UAS.cc

@@ -145,21 +145,6 @@ void UAS::receiveMessage(mavlink_message_t message)
     {
         switch (message.msgid)
         {
-        case MAVLINK_MSG_ID_PARAM_VALUE:
-        {
-            mavlink_param_value_t rawValue;
-            mavlink_msg_param_value_decode(&message, &rawValue);
-            QByteArray bytes(rawValue.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-            // Construct a string stopping at the first NUL (0) character, else copy the whole
-            // byte array (max MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN, so safe)
-            QString parameterName(bytes);
-            mavlink_param_union_t paramVal;
-            paramVal.param_float = rawValue.param_value;
-            paramVal.type = rawValue.param_type;
-
-            processParamValueMsg(message, parameterName,rawValue,paramVal);
-         }
-            break;
 
         case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
         {
@@ -524,61 +509,6 @@ quint64 UAS::getUptime() const
     }
 }
 
-//TODO update this to use the parameter manager / param data model instead
-void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramUnion)
-{
-    int compId = msg.compid;
-
-    QVariant paramValue;
-
-    // Insert with correct type
-
-    switch (rawValue.param_type) {
-        case MAV_PARAM_TYPE_REAL32:
-            paramValue = QVariant(paramUnion.param_float);
-            break;
-
-        case MAV_PARAM_TYPE_UINT8:
-            paramValue = QVariant(paramUnion.param_uint8);
-            break;
-
-        case MAV_PARAM_TYPE_INT8:
-            paramValue = QVariant(paramUnion.param_int8);
-            break;
-
-        case MAV_PARAM_TYPE_UINT16:
-            paramValue = QVariant(paramUnion.param_uint16);
-            break;
-
-        case MAV_PARAM_TYPE_INT16:
-            paramValue = QVariant(paramUnion.param_int16);
-            break;
-
-        case MAV_PARAM_TYPE_UINT32:
-            paramValue = QVariant(paramUnion.param_uint32);
-            break;
-
-        case MAV_PARAM_TYPE_INT32:
-            paramValue = QVariant(paramUnion.param_int32);
-            break;
-
-        //-- Note: These are not handled above:
-        //
-        //   MAV_PARAM_TYPE_UINT64
-        //   MAV_PARAM_TYPE_INT64
-        //   MAV_PARAM_TYPE_REAL64
-        //
-        //   No space in message (the only storage allocation is a "float") and not present in mavlink_param_union_t
-
-        default:
-            qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
-    }
-
-    qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;
-
-    emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
-}
-
 /**
 * Order the robot to start receiver pairing
 */

src/uas/UAS.h

@@ -196,8 +196,6 @@ protected:
     /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
     quint64 getUnixReferenceTime(quint64 time);
 
-    virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
-
     bool connectionLost; ///< Flag indicates a timed out connection
     quint64 connectionLossTime; ///< Time the connection was interrupted
     quint64 lastVoltageWarning; ///< Time at which the last voltage warning occurred

src/uas/UASInterface.h

@@ -49,8 +49,6 @@ signals:
     /** @brief The robot is disconnected **/
     void disconnected();
 
-    void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value);
-
     /**
      * @brief The battery status has been updated
      *

src/ui/QGCMapRCToParamDialog.cpp

-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Thomas Gubler <thomasgubler@gmail.com>
-
-#include "QGCMapRCToParamDialog.h"
-#include "ui_QGCMapRCToParamDialog.h"
-#include "ParameterManager.h"
-
-#include <QDebug>
-#include <QTimer>
-#include <QEventLoop>
-#include <QShowEvent>
-#include <QPushButton>
-
-QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent)
-    : QDialog(parent)
-    , param_id(param_id)
-    , mav(mav)
-    , _multiVehicleManager(multiVehicleManager)
-    , ui(new Ui::QGCMapRCToParamDialog)
-{
-    ui->setupUi(this);
-
-    // refresh the parameter from onboard to make sure the current value is used
-    Vehicle* vehicle = _multiVehicleManager->getVehicleById(mav->getUASID());
-    Fact* paramFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, param_id);
-    
-    ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble());
-    ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble());
-
-    // only enable ok button when param was refreshed
-    QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
-    okButton->setEnabled(false);
-
-    ui->paramIdLabel->setText(param_id);
-
-    connect(paramFact, &Fact::vehicleUpdated, this, &QGCMapRCToParamDialog::_parameterUpdated);
-    vehicle->parameterManager()->refreshParameter(FactSystem::defaultComponentId, param_id);
-}
-
-QGCMapRCToParamDialog::~QGCMapRCToParamDialog()
-{
-    delete ui;
-}
-
-void QGCMapRCToParamDialog::accept() {
-    emit mapRCToParamDialogResult(param_id,
-            (float)ui->scaleDoubleSpinBox->value(),
-            (float)ui->value0DoubleSpinBox->value(),
-            (quint8)ui->rcParamChannelComboBox->currentIndex(),
-            (float)ui->minValueDoubleSpinBox->value(),
-            (float)ui->maxValueDoubleSpinBox->value());
-
-    QDialog::accept();
-}
-
-void QGCMapRCToParamDialog::_parameterUpdated(QVariant value)
-{
-    Q_UNUSED(value);
-    
-    ui->infoLabel->setText("Parameter value is up to date");
-    ui->value0DoubleSpinBox->setValue(value.toDouble());
-    ui->value0DoubleSpinBox->setEnabled(true);
-    
-    connect(this, &QGCMapRCToParamDialog::mapRCToParamDialogResult, mav, &UASInterface::sendMapRCToParam);
-    QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok);
-    okButton->setEnabled(true);
-}

src/ui/QGCMapRCToParamDialog.h

-/****************************************************************************
- *
- *   (c) 2009-2018 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @brief Dialog to configure RC to parameter mapping
-///     @author Thomas Gubler <thomasgubler@gmail.com>
-
-#pragma once
-
-#include <QDialog>
-#include <QThread>
-
-#include "UASInterface.h"
-#include "AutoPilotPlugin.h"
-#include "MultiVehicleManager.h"
-
-namespace Ui {
-class QGCMapRCToParamDialog;
-}
-
-
-
-class QGCMapRCToParamDialog : public QDialog
-{
-    Q_OBJECT
-    QThread paramLoadThread;
-
-public:
-    explicit QGCMapRCToParamDialog(QString param_id, UASInterface *mav, MultiVehicleManager* multiVehicleManager, QWidget *parent = 0);
-    ~QGCMapRCToParamDialog();
-
-signals:
-    void mapRCToParamDialogResult(QString param_id, float scale, float value0,
-            quint8 param_rc_channel_index, float valueMin, float valueMax);
-
-public slots:
-    void accept();
-
-protected:
-    // void showEvent(QShowEvent * event );
-    QString param_id;
-    UASInterface *mav;
-
-private slots:
-    void _parameterUpdated(QVariant value);
-
-private:
-    MultiVehicleManager*        _multiVehicleManager;
-    Ui::QGCMapRCToParamDialog*  ui;
-};
-

src/ui/QGCMapRCToParamDialog.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCMapRCToParamDialog</class>
- <widget class="QDialog" name="QGCMapRCToParamDialog">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>358</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Dialog</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <layout class="QFormLayout" name="formLayout">
-     <property name="fieldGrowthPolicy">
-      <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-     </property>
-     <item row="0" column="0">
-      <widget class="QLabel" name="label1">
-       <property name="text">
-        <string>Bind</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="rcParamChannelInfoLabel">
-       <property name="text">
-        <string>Parameter Tuning ID</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="1">
-      <widget class="QComboBox" name="rcParamChannelComboBox">
-       <property name="editable">
-        <bool>false</bool>
-       </property>
-       <property name="currentText">
-        <string>1</string>
-       </property>
-       <item>
-        <property name="text">
-         <string>1</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>2</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>3</string>
-        </property>
-       </item>
-      </widget>
-     </item>
-     <item row="3" column="0">
-      <widget class="QLabel" name="paramIdInfoLabel">
-       <property name="text">
-        <string>Parameter</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="1">
-      <widget class="QLabel" name="paramIdLabel">
-       <property name="text">
-        <string>TextLabel</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="0">
-      <widget class="QLabel" name="label3">
-       <property name="text">
-        <string>with</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="0">
-      <widget class="QLabel" name="scaleInfoLabel">
-       <property name="text">
-        <string>Scale (keep default)</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="1">
-      <widget class="QDoubleSpinBox" name="scaleDoubleSpinBox">
-       <property name="value">
-        <double>1.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="0">
-      <widget class="QLabel" name="value0InfoLabel">
-       <property name="text">
-        <string>Center value</string>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="1">
-      <widget class="QDoubleSpinBox" name="value0DoubleSpinBox">
-       <property name="enabled">
-        <bool>false</bool>
-       </property>
-       <property name="decimals">
-        <number>8</number>
-       </property>
-       <property name="minimum">
-        <double>-100000.000000000000000</double>
-       </property>
-       <property name="maximum">
-        <double>100000.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="0">
-      <widget class="QLabel" name="minInfoLabel">
-       <property name="text">
-        <string>Minimum Value</string>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="1">
-      <widget class="QDoubleSpinBox" name="minValueDoubleSpinBox">
-       <property name="decimals">
-        <number>8</number>
-       </property>
-       <property name="minimum">
-        <double>-100000.000000000000000</double>
-       </property>
-       <property name="maximum">
-        <double>100000.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="0">
-      <widget class="QLabel" name="maxInfoLabel">
-       <property name="text">
-        <string>Maximum Value</string>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="1">
-      <widget class="QDoubleSpinBox" name="maxValueDoubleSpinBox">
-       <property name="decimals">
-        <number>8</number>
-       </property>
-       <property name="minimum">
-        <double>-10000.000000000000000</double>
-       </property>
-       <property name="maximum">
-        <double>100000.000000000000000</double>
-       </property>
-       <property name="singleStep">
-        <double>1.000000000000000</double>
-       </property>
-       <property name="value">
-        <double>10.000000000000000</double>
-       </property>
-      </widget>
-     </item>
-     <item row="10" column="0">
-      <widget class="QLabel" name="infoLabel">
-       <property name="text">
-        <string>Waiting for parameter refresh,,,</string>
-       </property>
-      </widget>
-     </item>
-     <item row="9" column="0">
-      <spacer name="verticalSpacer">
-       <property name="orientation">
-        <enum>Qt::Vertical</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>20</width>
-         <height>40</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item row="2" column="0" colspan="2">
-      <widget class="QLabel" name="label2">
-       <property name="text">
-        <string>Tuning IDs can be mapped to channels in the RC settings</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
-     </property>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>accepted()</signal>
-   <receiver>QGCMapRCToParamDialog</receiver>
-   <slot>accept()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>248</x>
-     <y>254</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>157</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>buttonBox</sender>
-   <signal>rejected()</signal>
-   <receiver>QGCMapRCToParamDialog</receiver>
-   <slot>reject()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>316</x>
-     <y>260</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>286</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
-</ui>