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Commit d4d26f03 authored by Don Gagne's avatar Don Gagne
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Explicit raw/cooked values

parent c33a4a83
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Showing with 170 additions and 171 deletions
src/AutoPilotPlugins/APM/APMAirframeComponent.cc
View file @ d4d26f03
......@@ -59,7 +59,7 @@ bool APMAirframeComponent::setupComplete(void) const
{
// You'll need to figure out which parameters trigger setup complete
#if 0
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
#else
return true;
#endif
......
src/AutoPilotPlugins/PX4/AirframeComponent.cc
View file @ d4d26f03
......@@ -142,7 +142,7 @@ bool AirframeComponent::requiresSetup(void) const
bool AirframeComponent::setupComplete(void) const
{
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
}
QString AirframeComponent::setupStateDescription(void) const
......
src/AutoPilotPlugins/PX4/AirframeComponentController.cc
View file @ d4d26f03
......@@ -57,8 +57,7 @@ AirframeComponentController::AirframeComponentController(void) :
// Load up member variables
bool autostartFound = false;
_autostartId = getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt();
_autostartId = getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt();
for (int tindex = 0; tindex < AirframeComponentAirframes::get().count(); tindex++) {
......@@ -114,8 +113,8 @@ void AirframeComponentController::changeAutostart(void)
connect(sysAutoConfigFact, &Fact::vehicleUpdated, this, &AirframeComponentController::_waitParamWriteSignal);
// We use forceSetValue to params are sent even if the previous value is that same as the new value
sysAutoStartFact->forceSetValue(_autostartId);
sysAutoConfigFact->forceSetValue(1);
sysAutoStartFact->forceSetRawValue(_autostartId);
sysAutoConfigFact->forceSetRawValue(1);
}
void AirframeComponentController::_waitParamWriteSignal(QVariant value)
......
src/AutoPilotPlugins/PX4/FlightModesComponent.cc
View file @ d4d26f03
......@@ -68,13 +68,13 @@ QString FlightModesComponent::iconResource(void) const
bool FlightModesComponent::requiresSetup(void) const
{
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
}
bool FlightModesComponent::setupComplete(void) const
{
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ||
_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
_autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
}
QString FlightModesComponent::setupStateDescription(void) const
......@@ -117,7 +117,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
QString FlightModesComponent::prerequisiteSetup(void) const
{
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1) {
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
// No RC input
return QString();
} else {
......
src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
View file @ d4d26f03
......@@ -78,10 +78,10 @@ void FlightModesComponentController::_init(void)
QVariant value;
_rgRCMin[channel] = getParameterFact(FactSystem::defaultComponentId, rcMinParam)->value().toInt();
_rgRCMax[channel] = getParameterFact(FactSystem::defaultComponentId, rcMaxParam)->value().toInt();
_rgRCMin[channel] = getParameterFact(FactSystem::defaultComponentId, rcMinParam)->rawValue().toInt();
_rgRCMax[channel] = getParameterFact(FactSystem::defaultComponentId, rcMaxParam)->rawValue().toInt();
float floatReversed = getParameterFact(-1, rcRevParam)->value().toFloat();
float floatReversed = getParameterFact(-1, rcRevParam)->rawValue().toFloat();
_rgRCReversed[channel] = floatReversed == -1.0f;
_rcValues[channel] = 0.0;
......@@ -89,7 +89,7 @@ void FlightModesComponentController::_init(void)
// RC_CHAN_CNT parameter is set by Radio Cal to specify the number of radio channels.
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
_channelCount = getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->value().toInt();
_channelCount = getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->rawValue().toInt();
} else {
_channelCount =_chanMax;
}
......@@ -98,9 +98,9 @@ void FlightModesComponentController::_init(void)
_channelCount = _chanMax;
}
int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
if (posCtlChannel == 0) {
// PosCtl disabled so AltCtl must move back to main Mode switch
......@@ -125,7 +125,7 @@ void FlightModesComponentController::_init(void)
attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
foreach(QString attitudeParam, attitudeParams) {
int channel = getParameterFact(-1, attitudeParam)->value().toInt();
int channel = getParameterFact(-1, attitudeParam)->rawValue().toInt();
if (channel != 0) {
usedChannels << channel;
}
......@@ -168,7 +168,7 @@ void FlightModesComponentController::_validateConfiguration(void)
switchParams << "RC_MAP_MODE_SW" << "RC_MAP_ACRO_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
for(int i=0; i<switchParams.count(); i++) {
int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->value().toInt();
int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
switchMappings << map;
if (map < 0 || map > _channelCount) {
......@@ -184,7 +184,7 @@ void FlightModesComponentController::_validateConfiguration(void)
attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
for (int i=0; i<attitudeParams.count(); i++) {
int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->value().toInt();
int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
for (int j=0; j<switchParams.count(); j++) {
if (map != 0 && map == switchMappings[j]) {
......@@ -201,7 +201,7 @@ void FlightModesComponentController::_validateConfiguration(void)
thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
foreach(QString thresholdParam, thresholdParams) {
float threshold = getParameterFact(-1, thresholdParam)->value().toFloat();
float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
if (threshold < 0.0f || threshold > 1.0f) {
_validConfiguration = false;
_configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold);
......@@ -239,7 +239,7 @@ double FlightModesComponentController::_switchLiveRange(const QString& param)
{
QVariant value;
int channel = getParameterFact(-1, param)->value().toInt();
int channel = getParameterFact(-1, param)->rawValue().toInt();
if (channel == 0) {
return 0.0;
} else {
......@@ -269,7 +269,7 @@ double FlightModesComponentController::acroModeRcValue(void)
double FlightModesComponentController::altCtlModeRcValue(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
if (posCtlSwitchChannel == 0) {
return _switchLiveRange("RC_MAP_MODE_SW");
......@@ -285,8 +285,8 @@ double FlightModesComponentController::posCtlModeRcValue(void)
double FlightModesComponentController::missionModeRcValue(void)
{
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
const char* switchChannelParam = "RC_MAP_MODE_SW";
......@@ -334,20 +334,20 @@ void FlightModesComponentController::_recalcModeSelections(void)
_offboardModeSelected = false;
// Convert channels to 0-based, -1 signals not mapped
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt() - 1;
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt() - 1;
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt() - 1;
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt() - 1;
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt() - 1;
int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt() - 1;
double autoThreshold = getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
double assistThreshold = getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
double acroThreshold = getParameterFact(-1, "RC_ACRO_TH")->value().toDouble();
double posCtlThreshold = getParameterFact(-1, "RC_POSCTL_TH")->value().toDouble();
double loiterThreshold = getParameterFact(-1, "RC_LOITER_TH")->value().toDouble();
double returnThreshold = getParameterFact(-1, "RC_RETURN_TH")->value().toDouble();
double offboardThreshold = getParameterFact(-1, "RC_OFFB_TH")->value().toDouble();
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt() - 1;
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt() - 1;
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt() - 1;
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt() - 1;
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt() - 1;
int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt() - 1;
double autoThreshold = getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
double assistThreshold = getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
double acroThreshold = getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
double posCtlThreshold = getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
double loiterThreshold = getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
double returnThreshold = getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
double offboardThreshold = getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
if (modeSwitchChannel >= 0) {
if (offboardSwitchChannel >= 0 && _rcValues[offboardSwitchChannel] >= offboardThreshold) {
......@@ -382,12 +382,12 @@ void FlightModesComponentController::_recalcModeSelections(void)
void FlightModesComponentController::_recalcModeRows(void)
{
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt();
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt();
int modeSwitchChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
int acroSwitchChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt();
if (modeSwitchChannel == 0) {
_acroModeRow = 0;
......@@ -477,65 +477,65 @@ double FlightModesComponentController::manualModeThreshold(void)
double FlightModesComponentController::assistModeThreshold(void)
{
return getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
return getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
double FlightModesComponentController::autoModeThreshold(void)
{
return getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
return getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::acroModeThreshold(void)
{
return getParameterFact(-1, "RC_ACRO_TH")->value().toDouble();
return getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::altCtlModeThreshold(void)
{
return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
}
double FlightModesComponentController::posCtlModeThreshold(void)
{
return getParameterFact(-1, "RC_POSCTL_TH")->value().toDouble();
return getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
}
double FlightModesComponentController::missionModeThreshold(void)
{
return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
}
double FlightModesComponentController::loiterModeThreshold(void)
{
return getParameterFact(-1, "RC_LOITER_TH")->value().toDouble();
return getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
}
double FlightModesComponentController::returnModeThreshold(void)
{
return getParameterFact(-1, "RC_RETURN_TH")->value().toDouble();
return getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
}
double FlightModesComponentController::offboardModeThreshold(void)
{
return getParameterFact(-1, "RC_OFFB_TH")->value().toDouble();
return getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
}
void FlightModesComponentController::setAssistModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ASSIST_TH")->setValue(threshold);
getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setAutoModeThreshold(double threshold)
{
getParameterFact(-1, "RC_AUTO_TH")->setValue(threshold);
getParameterFact(-1, "RC_AUTO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setAcroModeThreshold(double threshold)
{
getParameterFact(-1, "RC_ACRO_TH")->setValue(threshold);
getParameterFact(-1, "RC_ACRO_TH")->setRawValue(threshold);
_recalcModeSelections();
}
......@@ -546,7 +546,7 @@ void FlightModesComponentController::setAltCtlModeThreshold(double threshold)
void FlightModesComponentController::setPosCtlModeThreshold(double threshold)
{
getParameterFact(-1, "RC_POSCTL_TH")->setValue(threshold);
getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(threshold);
_recalcModeSelections();
}
......@@ -557,19 +557,19 @@ void FlightModesComponentController::setMissionModeThreshold(double threshold)
void FlightModesComponentController::setLoiterModeThreshold(double threshold)
{
getParameterFact(-1, "RC_LOITER_TH")->setValue(threshold);
getParameterFact(-1, "RC_LOITER_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setReturnModeThreshold(double threshold)
{
getParameterFact(-1, "RC_RETURN_TH")->setValue(threshold);
getParameterFact(-1, "RC_RETURN_TH")->setRawValue(threshold);
_recalcModeSelections();
}
void FlightModesComponentController::setOffboardModeThreshold(double threshold)
{
getParameterFact(-1, "RC_OFFB_TH")->setValue(threshold);
getParameterFact(-1, "RC_OFFB_TH")->setRawValue(threshold);
_recalcModeSelections();
}
......@@ -580,7 +580,7 @@ int FlightModesComponentController::_channelToChannelIndex(int channel)
int FlightModesComponentController::_channelToChannelIndex(const QString& channelParam)
{
return _channelToChannelIndex(getParameterFact(-1, channelParam)->value().toInt());
return _channelToChannelIndex(getParameterFact(-1, channelParam)->rawValue().toInt());
}
int FlightModesComponentController::manualModeChannelIndex(void)
......@@ -605,7 +605,7 @@ int FlightModesComponentController::acroModeChannelIndex(void)
int FlightModesComponentController::altCtlModeChannelIndex(void)
{
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
if (posCtlSwitchChannel == 0) {
return _channelToChannelIndex("RC_MAP_MODE_SW");
......@@ -626,7 +626,7 @@ int FlightModesComponentController::loiterModeChannelIndex(void)
int FlightModesComponentController::missionModeChannelIndex(void)
{
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
if (loiterSwitchChannel == 0) {
return _channelToChannelIndex("RC_MAP_MODE_SW");
......@@ -652,7 +652,7 @@ int FlightModesComponentController::_channelIndexToChannel(int index)
void FlightModesComponentController::setManualModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_MODE_SW")->setValue(_channelIndexToChannel(index));
getParameterFact(-1, "RC_MAP_MODE_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
_recalcModeRows();
......@@ -662,7 +662,7 @@ void FlightModesComponentController::setManualModeChannelIndex(int index)
void FlightModesComponentController::setAcroModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_ACRO_SW")->setValue(_channelIndexToChannel(index));
getParameterFact(-1, "RC_MAP_ACRO_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
_recalcModeRows();
......@@ -672,14 +672,14 @@ void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
getParameterFact(-1, "RC_MAP_POSCTL_SW")->setValue(channel);
getParameterFact(-1, "RC_MAP_POSCTL_SW")->setRawValue(channel);
if (channel == 0) {
// PosCtl disabled so AltCtl must move back to main Mode switch
_assistModeVisible = false;
} else {
// Assist mode is visible if AltCtl/PosCtl are on seperate channel from main Mode switch
_assistModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
_assistModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
}
emit modesVisibleChanged();
......@@ -694,14 +694,14 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
{
int channel = _channelIndexToChannel(index);
getParameterFact(-1, "RC_MAP_LOITER_SW")->setValue(channel);
getParameterFact(-1, "RC_MAP_LOITER_SW")->setRawValue(channel);
if (channel == 0) {
// Loiter disabled so Mission must move back to main Mode switch
_autoModeVisible = false;
} else {
// Auto mode is visible if Mission/Loiter are on seperate channel from main Mode switch
_autoModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
_autoModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
}
emit modesVisibleChanged();
......@@ -714,7 +714,7 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
void FlightModesComponentController::setReturnModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_RETURN_SW")->setValue(_channelIndexToChannel(index));
getParameterFact(-1, "RC_MAP_RETURN_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
_recalcModeRows();
emit channelIndicesChanged();
......@@ -723,7 +723,7 @@ void FlightModesComponentController::setReturnModeChannelIndex(int index)
void FlightModesComponentController::setOffboardModeChannelIndex(int index)
{
getParameterFact(-1, "RC_MAP_OFFB_SW")->setValue(_channelIndexToChannel(index));
getParameterFact(-1, "RC_MAP_OFFB_SW")->setRawValue(_channelIndexToChannel(index));
_recalcModeSelections();
_recalcModeRows();
emit channelIndicesChanged();
......@@ -739,17 +739,17 @@ void FlightModesComponentController::generateThresholds(void)
thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
foreach(QString thresholdParam, thresholdParams) {
getParameterFact(-1, thresholdParam)->setValue(0.0f);
getParameterFact(-1, thresholdParam)->setRawValue(0.0f);
}
// Redistribute
int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
int acroChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt();
int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
int returnChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
int offboardChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt();
int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
int acroChannel = getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
int returnChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
int offboardChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt();
if (modeChannel != 0) {
int positions = 3; // Manual/Assist/Auto always exist
......@@ -771,35 +771,35 @@ void FlightModesComponentController::generateThresholds(void)
if (acroOnModeSwitch) {
currentThreshold += increment;
getParameterFact(-1, "RC_ACRO_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_ACRO_TH")->setRawValue(currentThreshold);
acroChannel = 0;
}
currentThreshold += increment;
getParameterFact(-1, "RC_ASSIST_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(currentThreshold);
if (posCtlOnModeSwitch) {
currentThreshold += increment;
getParameterFact(-1, "RC_POSCTL_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(currentThreshold);
posCtlChannel = 0;
}
currentThreshold += increment;
getParameterFact(-1, "RC_AUTO_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_AUTO_TH")->setRawValue(currentThreshold);
if (loiterOnModeSwitch) {
currentThreshold += increment;
getParameterFact(-1, "RC_LOITER_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_LOITER_TH")->setRawValue(currentThreshold);
loiterChannel = 0;
}
if (returnOnModeSwitch) {
currentThreshold += increment;
getParameterFact(-1, "RC_RETURN_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_RETURN_TH")->setRawValue(currentThreshold);
returnChannel = 0;
}
if (offboardOnModeSwitch) {
currentThreshold += increment;
getParameterFact(-1, "RC_OFFB_TH")->setValue(currentThreshold);
getParameterFact(-1, "RC_OFFB_TH")->setRawValue(currentThreshold);
offboardChannel = 0;
}
}
......@@ -807,23 +807,23 @@ void FlightModesComponentController::generateThresholds(void)
if (acroChannel != 0) {
// If only two positions don't set threshold at midrange. Setting to 0.25
// allows for this channel to work with either a two or three position switch
getParameterFact(-1, "RC_ACRO_TH")->setValue(0.25f);
getParameterFact(-1, "RC_ACRO_TH")->setRawValue(0.25f);
}
if (posCtlChannel != 0) {
getParameterFact(-1, "RC_POSCTL_TH")->setValue(0.25f);
getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(0.25f);
}
if (loiterChannel != 0) {
getParameterFact(-1, "RC_LOITER_TH")->setValue(0.25f);
getParameterFact(-1, "RC_LOITER_TH")->setRawValue(0.25f);
}
if (returnChannel != 0) {
getParameterFact(-1, "RC_RETURN_TH")->setValue(0.25f);
getParameterFact(-1, "RC_RETURN_TH")->setRawValue(0.25f);
}
if (offboardChannel != 0) {
getParameterFact(-1, "RC_OFFB_TH")->setValue(0.25f);
getParameterFact(-1, "RC_OFFB_TH")->setRawValue(0.25f);
}
emit thresholdsChanged();
......
src/AutoPilotPlugins/PX4/PowerComponent.cc
View file @ d4d26f03
......@@ -57,9 +57,9 @@ bool PowerComponent::requiresSetup(void) const
bool PowerComponent::setupComplete(void) const
{
QVariant cvalue, evalue, nvalue;
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->value().toFloat() != 0.0f &&
_autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->value().toFloat() != 0.0f &&
_autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->value().toInt() != 0;
return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
_autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
_autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
}
QString PowerComponent::setupStateDescription(void) const
......
src/AutoPilotPlugins/PX4/RadioComponent.cc
View file @ d4d26f03
......@@ -53,18 +53,18 @@ QString RadioComponent::iconResource(void) const
bool RadioComponent::requiresSetup(void) const
{
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
}
bool RadioComponent::setupComplete(void) const
{
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
// The best we can do to detect the need for a radio calibration is look for attitude
// controls to be mapped.
QStringList attitudeMappings;
attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
foreach(QString mapParam, attitudeMappings) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
return false;
}
}
......@@ -115,7 +115,7 @@ QUrl RadioComponent::summaryQmlSource(void) const
QString RadioComponent::prerequisiteSetup(void) const
{
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
Q_ASSERT(plugin);
......
src/AutoPilotPlugins/PX4/RadioComponentController.cc
View file @ d4d26f03
......@@ -652,7 +652,7 @@ void RadioComponentController::_resetInternalCalibrationValues(void)
enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
bool ok;
int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->value().toInt(&ok);
int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->rawValue().toInt(&ok);
Q_ASSERT(ok);
// Parameter: 1-based channel, 0=not mapped
......@@ -694,16 +694,16 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
for (int i = 0; i < _chanMax; ++i) {
struct ChannelInfo* info = &_rgChannelInfo[i];
info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->value().toInt(&convertOk);
info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMin = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->value().toInt(&convertOk);
info->rcMin = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->value().toInt(&convertOk);
info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
float floatReversed = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->value().toFloat(&convertOk);
float floatReversed = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->rawValue().toFloat(&convertOk);
Q_ASSERT(convertOk);
Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
info->reversed = floatReversed == -1.0f;
......@@ -712,7 +712,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
for (int i=0; i<rcCalFunctionMax; i++) {
int32_t paramChannel;
paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->value().toInt(&convertOk);
paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->rawValue().toInt(&convertOk);
Q_ASSERT(convertOk);
if (paramChannel != 0) {
......@@ -794,10 +794,10 @@ void RadioComponentController::_writeCalibration(void)
struct ChannelInfo* info = &_rgChannelInfo[chan];
int oneBasedChannel = chan + 1;
getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setValue((float)info->rcTrim);
getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setValue((float)info->rcMin);
getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setValue((float)info->rcMax);
getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setValue(info->reversed ? -1.0f : 1.0f);
getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setRawValue((float)info->rcTrim);
getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setRawValue((float)info->rcMin);
getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setRawValue((float)info->rcMax);
getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setRawValue(info->reversed ? -1.0f : 1.0f);
}
// Write function mapping parameters
......@@ -810,12 +810,12 @@ void RadioComponentController::_writeCalibration(void)
// Note that the channel value is 1-based
paramChannel = _rgFunctionChannelMapping[i] + 1;
}
getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setValue(paramChannel);
getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setRawValue(paramChannel);
}
// If the RC_CHAN_COUNT parameter is available write the channel count
if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setValue(_chanCount);
getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
}
_stopCalibration();
......
src/AutoPilotPlugins/PX4/SensorsComponent.cc
View file @ d4d26f03
......@@ -62,7 +62,7 @@ bool SensorsComponent::requiresSetup(void) const
bool SensorsComponent::setupComplete(void) const
{
foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->value().toFloat() == 0.0f) {
if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
return false;
}
}
......
src/FactSystem/Fact.cc
View file @ d4d26f03
......@@ -73,16 +73,16 @@ const Fact& Fact::operator=(const Fact& other)
return *this;
}
void Fact::forceSetValue(const QVariant& value)
void Fact::forceSetRawValue(const QVariant& value)
{
if (_metaData) {
QVariant typedValue;
QString errorString;
if (_metaData->convertAndValidate(value, true /* convertOnly */, typedValue, errorString)) {
_rawValue.setValue(_metaData->cookedTranslator()(typedValue));
emit valueChanged(typedValue);
emit _containerValueChanged(typedValue);
_rawValue.setValue(typedValue);
emit valueChanged(cookedValue());
emit _containerRawValueChanged(rawValue());
}
} else {
qWarning() << "Meta data pointer missing";
......@@ -98,8 +98,8 @@ void Fact::setRawValue(const QVariant& value)
if (_metaData->convertAndValidate(value, true /* convertOnly */, typedValue, errorString)) {
if (typedValue != _rawValue) {
_rawValue.setValue(typedValue);
emit valueChanged(this->value());
emit _containerValueChanged(this->value());
emit valueChanged(cookedValue());
emit _containerRawValueChanged(rawValue());
}
}
} else {
......@@ -107,7 +107,7 @@ void Fact::setRawValue(const QVariant& value)
}
}
void Fact::setValue(const QVariant& value)
void Fact::setCookedValue(const QVariant& value)
{
if (_metaData) {
setRawValue(_metaData->cookedTranslator()(value));
......@@ -121,7 +121,7 @@ void Fact::setEnumStringValue(const QString& value)
if (_metaData) {
int index = _metaData->enumStrings().indexOf(value);
if (index != -1) {
setValue(_metaData->enumValues()[index]);
setCookedValue(_metaData->enumValues()[index]);
}
} else {
qWarning() << "Meta data pointer missing";
......@@ -131,16 +131,16 @@ void Fact::setEnumStringValue(const QString& value)
void Fact::setEnumIndex(int index)
{
if (_metaData) {
setValue(_metaData->enumValues()[index]);
setCookedValue(_metaData->enumValues()[index]);
} else {
qWarning() << "Meta data pointer missing";
}
}
void Fact::_containerSetValue(const QVariant& value)
void Fact::_containerSetRawValue(const QVariant& value)
{
_rawValue = value;
emit valueChanged(_rawValue);
emit valueChanged(cookedValue());
emit vehicleUpdated(_rawValue);
}
......@@ -154,7 +154,7 @@ int Fact::componentId(void) const
return _componentId;
}
QVariant Fact::value(void) const
QVariant Fact::cookedValue(void) const
{
if (_metaData) {
return _metaData->rawTranslator()(_rawValue);
......@@ -183,7 +183,7 @@ int Fact::enumIndex(void) const
if (_metaData) {
int index = 0;
foreach (QVariant enumValue, _metaData->enumValues()) {
if (enumValue == value()) {
if (enumValue == rawValue()) {
return index;
}
index ++;
......@@ -236,7 +236,7 @@ QString Fact::_variantToString(const QVariant& variant) const
QString Fact::valueString(void) const
{
return _variantToString(value());
return _variantToString(cookedValue());
}
QVariant Fact::defaultValue(void) const
......@@ -365,14 +365,14 @@ QString Fact::group(void) const
void Fact::setMetaData(FactMetaData* metaData)
{
_metaData = metaData;
emit valueChanged(value());
emit valueChanged(cookedValue());
}
bool Fact::valueEqualsDefault(void) const
{
if (_metaData) {
if (_metaData->defaultValueAvailable()) {
return _metaData->defaultValue() == value();
return _metaData->defaultValue() == rawValue();
} else {
return false;
}
......
src/FactSystem/Fact.h
View file @ d4d26f03
......@@ -67,7 +67,7 @@ public:
Q_PROPERTY(QString shortDescription READ shortDescription CONSTANT)
Q_PROPERTY(FactMetaData::ValueType_t type READ type CONSTANT)
Q_PROPERTY(QString units READ units CONSTANT)
Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged)
Q_PROPERTY(QVariant value READ cookedValue WRITE setCookedValue NOTIFY valueChanged)
Q_PROPERTY(bool valueEqualsDefault READ valueEqualsDefault NOTIFY valueChanged)
Q_PROPERTY(QVariant valueString READ valueString NOTIFY valueChanged)
......@@ -75,6 +75,7 @@ public:
/// @param convertOnly true: validate type conversion only, false: validate against meta data as well
Q_INVOKABLE QString validate(const QString& value, bool convertOnly);
QVariant cookedValue (void) const; /// Value after translation
int componentId (void) const;
int decimalPlaces (void) const;
QVariant defaultValue (void) const;
......@@ -97,24 +98,23 @@ public:
QString shortDescription (void) const;
FactMetaData::ValueType_t type (void) const;
QString units (void) const;
QVariant value (void) const;
QString valueString (void) const;
bool valueEqualsDefault (void) const;
void setRawValue (const QVariant& value);
void setValue (const QVariant& value);
void setCookedValue (const QVariant& value);
void setEnumIndex (int index);
void setEnumStringValue (const QString& value);
// C++ methods
/// Sets and sends new value to vehicle even if value is the same
void forceSetValue(const QVariant& value);
void forceSetRawValue(const QVariant& value);
/// Sets the meta data associated with the Fact.
void setMetaData(FactMetaData* metaData);
void _containerSetValue(const QVariant& value);
void _containerSetRawValue(const QVariant& value);
/// Generally you should not change the name of a fact. But if you know what you are doing, you can.
void _setName(const QString& name) { _name = name; }
......@@ -131,7 +131,7 @@ signals:
/// Signalled when property has been changed by a call to the property write accessor
///
/// This signal is meant for use by Fact container implementations.
void _containerValueChanged(const QVariant& value);
void _containerRawValueChanged(const QVariant& value);
private:
QString _variantToString(const QVariant& variant) const;
......
src/FactSystem/FactSystemTestBase.cc
View file @ d4d26f03
......@@ -61,7 +61,7 @@ void FactSystemTestBase::_parameter_default_component_id_test(void)
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
QVERIFY(fact != NULL);
QVariant factValue = fact->value();
QVariant factValue = fact->rawValue();
QCOMPARE(factValue.isValid(), true);
QCOMPARE(factValue.toInt(), 3);
......@@ -72,7 +72,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE"));
Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE");
QVERIFY(fact != NULL);
QVariant factValue = fact->value();
QVariant factValue = fact->rawValue();
QCOMPARE(factValue.isValid(), true);
......@@ -82,7 +82,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 51, "COMPONENT_51"));
fact = _plugin->getFact(FactSystem::ParameterProvider, 51, "COMPONENT_51");
QVERIFY(fact != NULL);
factValue = fact->value();
factValue = fact->rawValue();
QCOMPARE(factValue.isValid(), true);
QCOMPARE(factValue.toInt(), 51);
......@@ -119,7 +119,7 @@ void FactSystemTestBase::_qmlUpdate_test(void)
// Change the value
QVariant paramValue = 12;
_plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setValue(paramValue);
_plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
QTest::qWait(500); // Let the signals flow through
......
src/FactSystem/ParameterLoader.cc
View file @ d4d26f03
......@@ -245,14 +245,14 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
_mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact);
// We need to know when the fact changes from QML so that we can send the new value to the parameter manager
connect(fact, &Fact::_containerValueChanged, this, &ParameterLoader::_valueUpdated);
connect(fact, &Fact::_containerRawValueChanged, this, &ParameterLoader::_valueUpdated);
}
Q_ASSERT(_mapParameterName2Variant[componentId].contains(parameterName));
Fact* fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
Q_ASSERT(fact);
fact->_containerSetValue(value);
fact->_containerSetRawValue(value);
if (setMetaData) {
_vehicle->firmwarePlugin()->addMetaDataToFact(fact);
......@@ -465,7 +465,7 @@ void ParameterLoader::_waitingParamTimeout(void)
foreach(QString paramName, _waitingWriteParamNameMap[componentId].keys()) {
paramsRequested = true;
_waitingWriteParamNameMap[componentId][paramName]++; // Bump retry count
_writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->value());
_writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->rawValue());
qCDebug(ParameterLoaderLog) << "Write resend for (componentId:" << componentId << "paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")";
if (++batchCount > maxBatchSize) {
......@@ -586,7 +586,7 @@ void ParameterLoader::_writeLocalParamCache()
foreach(int id, _mapParameterId2Name[component].keys()) {
const QString name(_mapParameterId2Name[component][id]);
const Fact *fact = _mapParameterName2Variant[component][name].value<Fact*>();
cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->value()));
cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->rawValue()));
}
}
......@@ -700,7 +700,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
}
qCDebug(ParameterLoaderLog) << "Updating parameter" << componentId << paramName << valStr;
fact->setValue(valStr);
fact->setRawValue(valStr);
}
}
}
......
src/MissionManager/MissionItem.cc
View file @ d4d26f03
......@@ -193,9 +193,9 @@ MissionItem::MissionItem(int sequenceNumber,
_param2Fact.setRawValue(param2);
_param3Fact.setRawValue(param3);
_param4Fact.setRawValue(param4);
_param5Fact.setValue(param5);
_param6Fact.setValue(param6);
_param7Fact.setValue(param7);
_param5Fact.setRawValue(param5);
_param6Fact.setRawValue(param6);
_param7Fact.setRawValue(param7);
}
MissionItem::MissionItem(const MissionItem& other, QObject* parent)
......@@ -226,13 +226,13 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
_syncFrameToAltitudeRelativeToHome();
_syncCommandToSupportedCommand(QVariant(this->command()));
_param1Fact.setValue(other._param1Fact.value());
_param2Fact.setValue(other._param2Fact.value());
_param3Fact.setValue(other._param3Fact.value());
_param4Fact.setValue(other._param4Fact.value());
_param5Fact.setValue(other._param5Fact.value());
_param6Fact.setValue(other._param6Fact.value());
_param7Fact.setValue(other._param7Fact.value());
_param1Fact.setRawValue(other._param1Fact.rawValue());
_param2Fact.setRawValue(other._param2Fact.rawValue());
_param3Fact.setRawValue(other._param3Fact.rawValue());
_param4Fact.setRawValue(other._param4Fact.rawValue());
_param5Fact.setRawValue(other._param5Fact.rawValue());
_param6Fact.setRawValue(other._param6Fact.rawValue());
_param7Fact.setRawValue(other._param7Fact.rawValue());
return *this;
}
......@@ -525,7 +525,7 @@ void MissionItem::setSequenceNumber(int sequenceNumber)
void MissionItem::setCommand(MAV_CMD command)
{
if ((MAV_CMD)this->command() != command) {
_commandFact.setValue(command);
_commandFact.setRawValue(command);
setDefaultsForCommand();
emit commandChanged(this->command());
}
......@@ -540,7 +540,7 @@ void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
void MissionItem::setFrame(MAV_FRAME frame)
{
if (this->frame() != frame) {
_frameFact.setValue(frame);
_frameFact.setRawValue(frame);
frameChanged(frame);
}
}
......@@ -548,7 +548,7 @@ void MissionItem::setFrame(MAV_FRAME frame)
void MissionItem::setAutoContinue(bool autoContinue)
{
if (this->autoContinue() != autoContinue) {
_autoContinueFact.setValue(autoContinue);
_autoContinueFact.setRawValue(autoContinue);
}
}
......@@ -748,7 +748,7 @@ QmlObjectListModel* MissionItem::comboboxFacts(void)
QGeoCoordinate MissionItem::coordinate(void) const
{
return QGeoCoordinate(_param5Fact.value().toDouble(), _param6Fact.value().toDouble(), _param7Fact.value().toDouble());
return QGeoCoordinate(_param5Fact.rawValue().toDouble(), _param6Fact.rawValue().toDouble(), _param7Fact.rawValue().toDouble());
}
void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
......@@ -835,7 +835,7 @@ void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
if (!_syncingAltitudeRelativeToHomeAndFrame) {
_syncingAltitudeRelativeToHomeAndFrame = true;
_altitudeRelativeToHomeFact.setValue(relativeAltitude());
_altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
_syncingAltitudeRelativeToHomeAndFrame = false;
}
}
......@@ -844,7 +844,7 @@ void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
_syncingSupportedCommandAndCommand = true;
_commandFact.setValue(value.toInt());
_commandFact.setRawValue(value.toInt());
_syncingSupportedCommandAndCommand = false;
}
}
......@@ -853,7 +853,7 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
{
if (!_syncingSupportedCommandAndCommand) {
_syncingSupportedCommandAndCommand = true;
_supportedCommandFact.setValue(value.toInt());
_supportedCommandFact.setRawValue(value.toInt());
_syncingSupportedCommandAndCommand = false;
}
}
......
src/MissionManager/MissionItem.h
View file @ d4d26f03
......@@ -95,7 +95,7 @@ public:
// Property accesors
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
QString commandDescription (void) const;
QString commandName (void) const;
QGeoCoordinate coordinate (void) const;
......@@ -135,8 +135,8 @@ public:
// C++ only methods
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.value().toInt(); }
bool autoContinue(void) const { return _autoContinueFact.value().toBool(); }
MAV_FRAME frame (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
bool autoContinue(void) const { return _autoContinueFact.rawValue().toBool(); }
double param1 (void) const { return _param1Fact.rawValue().toDouble(); }
double param2 (void) const { return _param2Fact.rawValue().toDouble(); }
double param3 (void) const { return _param3Fact.rawValue().toDouble(); }
......
src/qgcunittest/PX4RCCalibrationTest.cc
View file @ d4d26f03
......@@ -389,7 +389,7 @@ void RadioConfigTest::_fullCalibration_test(void)
switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
foreach (QString switchParam, switchList) {
Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->value().toInt() != channel + 1);
Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
}
_rgFunctionChannelMap[function] = channel;
......@@ -401,7 +401,7 @@ void RadioConfigTest::_fullCalibration_test(void)
// If we aren't mapping this function during calibration, set it to the previous setting
if (!found) {
_rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->value().toInt();
_rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->rawValue().toInt();
qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
if (_rgFunctionChannelMap[function] == 0) {
_rgFunctionChannelMap[function] = -1; // -1 signals no mapping
......@@ -465,8 +465,8 @@ void RadioConfigTest::_validateParameters(void)
expectedParameterValue = chanIndex + 1; // 1-based parameter value
}
qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedParameterValue);
qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedParameterValue);
}
// Validate the channel settings. Note the channels are 1-based in parameter names.
......@@ -480,13 +480,13 @@ void RadioConfigTest::_validateParameters(void)
int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
QCOMPARE(convertOk, true);
int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
QCOMPARE(convertOk, true);
int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
QCOMPARE(convertOk, true);
float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->value().toFloat(&convertOk);
float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
QCOMPARE(convertOk, true);
bool rcReversedActual = (rcReversedFloat == -1.0f);
......@@ -508,6 +508,6 @@ void RadioConfigTest::_validateParameters(void)
expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
}
// qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[RadioComponentController::_rgFunctionInfo[chanFunction].parameterName].toInt();
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedValue);
QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedValue);
}
}
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