Fixed param loading

src/ui/QGCParamWidget.cc

@@ -25,7 +25,8 @@ This file is part of the QGROUNDCONTROL project
  *   @brief Implementation of class QGCParamWidget
  *   @author Lorenz Meier <mail@qgroundcontrol.org>
  */
-
+#include <cmath>
+#include <float.h>
 #include <QGridLayout>
 #include <QPushButton>
 #include <QFileDialog>
@@ -38,6 +39,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QGCParamWidget.h"
 #include "UASInterface.h"
+#include "MainWindow.h"
 #include <QDebug>
 #include "QGC.h"
 
@@ -364,7 +366,7 @@ void QGCParamWidget::addParameter(int uas, int component, int paramCount, int pa
             // There is only one transmission timeout for all components
             // since components do not manage their transmission,
             // the longest timeout is safe for all components.
-            quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount/retransmissionBurstRequestSize+5)*retransmissionTimeout);
+            quint64 thisTransmissionTimeout = QGC::groundTimeMilliseconds() + ((paramCount)*retransmissionTimeout);
             if (thisTransmissionTimeout > transmissionTimeout)
             {
                 transmissionTimeout = thisTransmissionTimeout;
@@ -490,19 +492,19 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
     // Get component
     if (!components->contains(component))
     {
-//        QString componentName;
-//        switch (component)
-//        {
-//        case MAV_COMP_ID_CAMERA:
-//            componentName = tr("Camera (#%1)").arg(component);
-//            break;
-//        case MAV_COMP_ID_IMU:
-//            componentName = tr("IMU (#%1)").arg(component);
-//            break;
-//        default:
-//            componentName = tr("Component #").arg(component);
-//            break;
-//        }
+        //        QString componentName;
+        //        switch (component)
+        //        {
+        //        case MAV_COMP_ID_CAMERA:
+        //            componentName = tr("Camera (#%1)").arg(component);
+        //            break;
+        //        case MAV_COMP_ID_IMU:
+        //            componentName = tr("IMU (#%1)").arg(component);
+        //            break;
+        //        default:
+        //            componentName = tr("Component #").arg(component);
+        //            break;
+        //        }
         QString componentName = tr("Component #%1").arg(component);
         addComponent(uas, component, componentName);
     }
@@ -766,8 +768,7 @@ void QGCParamWidget::loadParameters()
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
         return;
 
-    // Clear list
-    clear();
+    bool userWarned = false;
 
     QTextStream in(&file);
     while (!in.atEnd()) {
@@ -776,40 +777,58 @@ void QGCParamWidget::loadParameters()
             QStringList wpParams = line.split("\t");
             if (wpParams.size() == 5) {
                 // Only load parameters for right mav
-                if (mav->getUASID() == wpParams.at(0).toInt()) {
+                if (!userWarned && (mav->getUASID() != wpParams.at(0).toInt())) {
+                    MainWindow::instance()->showCriticalMessage(tr("Parameter loading warning"), tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
+                    userWarned = true;
+                }
 
                 bool changed = false;
                 int component = wpParams.at(1).toInt();
                 QString parameterName = wpParams.at(2);
-                    if (!parameters.contains(component) || parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()-3.0f) != (float)wpParams.at(3).toDouble()) {
+                if (!parameters.contains(component) ||
+                        fabs((static_cast<float>(parameters.value(component)->value(parameterName, wpParams.at(3).toDouble()).toDouble())) - (wpParams.at(3).toDouble())) > 2.0f * FLT_EPSILON) {
                     changed = true;
+                    qDebug() << "Changed" << parameterName << "VAL" << wpParams.at(3).toDouble();
                 }
 
                 // Set parameter value
-                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble());
 
-                    if (changed) {
                 // Create changed values data structure if necessary
-                        if (!changedValues.contains(wpParams.at(1).toInt())) {
+                if (changed && !changedValues.contains(wpParams.at(1).toInt())) {
                     changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, QVariant>());
                 }
 
                 // Add to changed values
-                        if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2))) {
+                if (changed && changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2))) {
                     changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2));
                 }
 
-                        switch (wpParams.at(3).toUInt())
+                switch (wpParams.at(4).toUInt())
                 {
-                        case MAV_PARAM_TYPE_REAL32:
+                case (int)MAV_PARAM_TYPE_REAL32:
+                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat());
+                    if (changed) {
                         changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toFloat());
+                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toFloat());
+                        qDebug() << "FLOAT PARAM CHANGED";
+                    }
                     break;
-                        case MAV_PARAM_TYPE_UINT32:
+                case (int)MAV_PARAM_TYPE_UINT32:
+                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toUInt());
+                    if (changed) {
                         changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toUInt());
+                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toUInt()));
+                    }
                     break;
-                        case MAV_PARAM_TYPE_INT32:
+                case (int)MAV_PARAM_TYPE_INT32:
+                    addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toInt());
+                    if (changed) {
                         changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), wpParams.at(3).toInt());
+                        setParameter(wpParams.at(1).toInt(), wpParams.at(2), QVariant(wpParams.at(3).toInt()));
+                    }
                     break;
+                default:
+                    qDebug() << "FAILED LOADING PARAM" << wpParams.at(2) << "NO KNOWN DATA TYPE";
                 }
 
                 //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
@@ -820,8 +839,6 @@ void QGCParamWidget::loadParameters()
             }
         }
     }
-        }
-    }
     file.close();
 
 }
@@ -1010,11 +1027,20 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
     transmissionMissingWriteAckPackets.value(component)->insert(parameterName, value);
 
     // Set timeouts
-    transmissionActive = true;
-    quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + 5*rewriteTimeout;
-    if (newTransmissionTimeout > transmissionTimeout) {
+    if (transmissionActive)
+    {
+        transmissionTimeout += rewriteTimeout;
+    }
+    else
+    {
+        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + rewriteTimeout;
+        if (newTransmissionTimeout > transmissionTimeout)
+        {
             transmissionTimeout = newTransmissionTimeout;
         }
+        transmissionActive = true;
+    }
+
     // Enable guard / reset timeouts
     setRetransmissionGuardEnabled(true);
 }
@@ -1046,11 +1072,18 @@ void QGCParamWidget::setParameters()
     } else {
         statusLabel->setText(tr("Transmitting %1 parameters.").arg(parametersSent));
         // Set timeouts
+        if (transmissionActive)
+        {
+            transmissionTimeout += parametersSent*rewriteTimeout;
+        }
+        else
+        {
             transmissionActive = true;
-        quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + (parametersSent/retransmissionBurstRequestSize+5)*rewriteTimeout;
+            quint64 newTransmissionTimeout = QGC::groundTimeMilliseconds() + parametersSent*rewriteTimeout;
             if (newTransmissionTimeout > transmissionTimeout) {
                 transmissionTimeout = newTransmissionTimeout;
             }
+        }
         // Enable guard
         setRetransmissionGuardEnabled(true);
     }

src/ui/UASInfo.ui

@@ -118,7 +118,7 @@
    <item row="1" column="0">
     <widget class="QLabel" name="label_2">
      <property name="text">
-      <string>Recv. Loss</string>
+      <string>MAV RX Loss</string>
      </property>
     </widget>
    </item>
@@ -204,7 +204,7 @@
    <item row="2" column="0">
     <widget class="QLabel" name="label_6">
      <property name="text">
-      <string>Send Loss</string>
+      <string>MAV TX Loss</string>
      </property>
     </widget>
    </item>