Code cleanup and additional error checking in QGCVehicleConfig.cc

src/uas/UAS.cc

@@ -881,6 +881,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
 
             // Insert with correct type
+            // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
             switch (value.param_type)
             {
             case MAV_PARAM_TYPE_REAL32:
@@ -2334,6 +2335,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         mavlink_param_union_t union_value;
 
         // Assign correct value based on QVariant
+        // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
         if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
         {
             switch (value.type())

src/ui/QGCVehicleConfig.h

@@ -31,7 +31,9 @@ public:
 public slots:
     /** Set the MAV currently being calibrated */
     void setActiveUAS(UASInterface* active);
+    /** Fallback function, automatically called by loadConfig() upon failure to find and xml file*/
     void loadQgcConfig();
+    /** Load configuration from xml file */
     void loadConfig();
     /** Start the RC calibration routine */
     void startCalibrationRC();
@@ -173,18 +175,17 @@ protected:
     QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
     bool calibrationEnabled;            ///< calibration mode on / off
 
-    QMap<QString,QGCToolWidget*> *paramToWidgetMap;
-    QMap<QString,QGCToolWidget*> *libParamToWidgetMap;
-    QMap<QString,QMap<QString,QGCToolWidget*>*> systemTypeToParamMap;
-    QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap;
-    QMap<QString,QString> paramTooltips;
+    QMap<QString,QGCToolWidget*> *paramToWidgetMap;                     ///< Holds the current active MAV's parameter widgets.
+    QMap<QString,QGCToolWidget*> *libParamToWidgetMap;                  ///< Holds the library parameter widgets
+    QMap<QString,QMap<QString,QGCToolWidget*>*> systemTypeToParamMap;   ///< Holds all loaded MAV specific parameter widgets, for every MAV.
+    QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap;                       ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget.
+    QMap<QString,QString> paramTooltips;                                ///< Tooltips for the ? button next to a parameter.
     
 private:
     Ui::QGCVehicleConfig *ui;
 
 signals:
     void visibilityChanged(bool visible);
-    void configReady();
 };
 
 #endif // QGCVEHICLECONFIG_H

src/ui/QGCVehicleConfig.ui

@@ -946,7 +946,7 @@ p, li { white-space: pre-wrap; }
                  <number>0</number>
                 </property>
                 <item>
-                 <layout class="QVBoxLayout" name="leftHWSpecificLayout"/>
+                 <layout class="QVBoxLayout" name="leftAdvancedLayout"/>
                 </item>
                </layout>
               </widget>
@@ -983,7 +983,7 @@ p, li { white-space: pre-wrap; }
                  <number>0</number>
                 </property>
                 <item>
-                 <layout class="QVBoxLayout" name="rightHWSpecificLayout"/>
+                 <layout class="QVBoxLayout" name="rightAdvancedLayout"/>
                 </item>
                </layout>
               </widget>

src/ui/designer/QGCToolWidget.cc

@@ -200,18 +200,11 @@ QList<QString> QGCToolWidget::getParamList()
 }
 void QGCToolWidget::setParameterValue(int uas, int component, QString parameterName, const QVariant value)
 {
-//settings.setValue("QGC_PARAM_SLIDER_PARAMID", parameterName);
-//settings.setValue("QGC_PARAM_COMBOBOX_PARAMID", parameterName);
     QString widgetName = getTitle();
-    //settings.beginGroup(widgetName);
-    //qDebug() << "LOADING FOR" << widgetName;
-    //int size = settings.beginReadArray("QGC_TOOL_WIDGET_ITEMS");
     int size = settingsMap["count"].toInt();
-    //qDebug() << "CHILDREN SIZE:" << size;
     if (paramToItemMap.contains(parameterName))
     {
-        //slider->setParameterValue(uas,component,0,-1,paramname,value);
-        //paramToItemMap[parameterName]->set
+        //If we already have an item for this parameter, updates are handled internally.
         return;
     }
 
@@ -221,9 +214,8 @@ void QGCToolWidget::setParameterValue(int uas, int component, QString parameterN
         QGCToolWidgetItem* item = NULL;
         if (type == "COMMANDBUTTON")
         {
-            return;
-            //item = new QGCCommandButton(this);
-            //qDebug() << "CREATED COMMANDBUTTON";
+            //This shouldn't happen, but I'm not sure... so lets test for it.
+            continue;
         }
         else if (type == "SLIDER")
         {
@@ -234,11 +226,8 @@ void QGCToolWidget::setParameterValue(int uas, int component, QString parameterN
                 paramToItemMap[parameterName] = item;
                 addToolWidget(item);
                 item->readSettings(widgetName + "\\" + QString::number(j) + "\\",settingsMap);
-
                 return;
             }
-
-            //qDebug() << "CREATED PARAM SLIDER";
         }
         else if (type == "COMBO")
         {
@@ -251,8 +240,6 @@ void QGCToolWidget::setParameterValue(int uas, int component, QString parameterN
                 paramToItemMap[parameterName] = item;
                 return;
             }
-
-            //qDebug() << "CREATED PARAM COMBOBOX";
         }
     }
 }