Switch to FactSystem for parameters

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -142,13 +142,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    QVariant value;
-    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "SYS_AUTOSTART", value)) {
-        return value.toInt() != 0;
-    } else {
-        Q_ASSERT(false);
-        return false;
-    }
+    return _autopilot->getParameterFact("SYS_AUTOSTART")->value().toInt() != 0;
 }
 
 QString AirframeComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -72,13 +72,7 @@ bool FlightModesComponent::requiresSetup(void) const
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    QVariant value;
-    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "RC_MAP_MODE_SW", value)) {
-        return value.toInt() != 0;
-    } else {
-        Q_ASSERT(false);
-        return false;
-    }
+    return _autopilot->getParameterFact("RC_MAP_MODE_SW")->value().toInt() != 0;
 }
 
 QString FlightModesComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/PX4Component.cc

@@ -29,6 +29,12 @@
 PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     VehicleComponent(uas, autopilot, parent)
 {
+    Q_ASSERT(uas);
+    Q_ASSERT(autopilot);
+    
+    _paramMgr = _uas->getParamManager();
+    Q_ASSERT(_paramMgr);
+
     bool fSuccess = connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant)));
     Q_ASSERT(fSuccess);
     Q_UNUSED(fSuccess);

src/AutoPilotPlugins/PX4/PX4Component.h

@@ -47,6 +47,9 @@ private slots:
     /// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal
     ///         setupCompleteChanged at appropriate times.
     void _parameterUpdated(int compId, QString paramName, QVariant value);
+    
+private:
+    QGCUASParamManagerInterface*    _paramMgr;
 };
 
 #endif

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -58,15 +58,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "BAT_V_CHARGED", cvalue)) {
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "BAT_V_EMPTY", evalue)) {
-            if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), "BAT_N_CELLS", nvalue)) {
-                return (cvalue.toFloat() > 0.1f) && (evalue.toFloat() > 0.1f) && (nvalue.toInt() > 0);
-            }
-        }
-    }
-    Q_ASSERT(false);
-    return false;
+    return _autopilot->getParameterFact("BAT_V_CHARGED")->value().toFloat() != 0.0f &&
+        _autopilot->getParameterFact("BAT_V_EMPTY")->value().toFloat() != 0.0f &&
+        _autopilot->getParameterFact("BAT_N_CELLS")->value().toInt() != 0;
 }
 
 QString PowerComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -62,13 +62,7 @@ bool RadioComponent::setupComplete(void) const
     QStringList attitudeMappings;
     attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
     foreach(QString mapParam, attitudeMappings) {
-        QVariant value;
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), mapParam, value)) {
-            if (value.toInt() == 0) {
-                return false;
-            }
-        } else {
-            Q_ASSERT(false);
+        if (_autopilot->getParameterFact(mapParam)->value().toInt() == 0) {
             return false;
         }
     }
@@ -86,28 +80,13 @@ bool RadioComponent::setupComplete(void) const
         QString param;
         
         param = QString("RC%1_MIN").arg(i);
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
-            rcMin = value.toInt();
-        } else {
-            Q_ASSERT(false);
-            return false;
-        }
+        rcMin = _autopilot->getParameterFact(param)->value().toInt();
         
         param = QString("RC%1_MAX").arg(i);
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
-            rcMax = value.toInt();
-        } else {
-            Q_ASSERT(false);
-            return false;
-        }
+        rcMax = _autopilot->getParameterFact(param)->value().toInt();
         
         param = QString("RC%1_TRIM").arg(i);
-        if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), param, value)) {
-            rcTrim = value.toInt();
-        } else {
-            Q_ASSERT(false);
-            return false;
-        }
+        rcTrim = _autopilot->getParameterFact(param)->value().toInt();
         
         if (rcMin == rcMinDefault && rcMax == rcMaxDefault && rcTrim == rcTrimDefault) {
             return false;

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -62,14 +62,7 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
-        QVariant value;
-        
-        if (!_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), triggerParam, value)) {
-            Q_ASSERT(false);
-            return false;
-        }
-        
-        if (value.toFloat() == 0.0f) {
+        if (_autopilot->getParameterFact(triggerParam)->value().toFloat() == 0.0f) {
             return false;
         }
     }

src/VehicleSetup/VehicleComponent.cc

@@ -34,9 +34,6 @@ VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot
 {
     Q_ASSERT(uas);
     Q_ASSERT(autopilot);
-    
-    _paramMgr = _uas->getParamManager();
-    Q_ASSERT(_paramMgr);
 }
 
 VehicleComponent::~VehicleComponent()

src/VehicleSetup/VehicleComponent.h

@@ -75,7 +75,6 @@ signals:
 protected:
     UASInterface*                   _uas;
     AutoPilotPlugin*                _autopilot;
-    QGCUASParamManagerInterface*    _paramMgr;
 };
 
 #endif