Disabled union conversions of incoming/outgoing parameters when connected to an APM.

This will be removed once APM updates to support MAVLink
parameters properly.

src/uas/UAS.cc

@@ -886,7 +886,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             case MAV_PARAM_TYPE_REAL32:
             {
                 // Variant
-                QVariant param(val.param_float);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant(val.param_float);
+                }
+                else
+                {
+                    param = QVariant(val.param_float);
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
@@ -897,37 +905,72 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             case MAV_PARAM_TYPE_UINT8:
             {
                 // Variant
-                QVariant param(val.param_uint8);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant(QChar((unsigned char)val.param_float));
+                }
+                else
+                {
+                    param = QVariant(QChar((unsigned char)val.param_uint8));
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                 //qDebug() << "RECEIVED PARAM:" << param;
             }
+                break;
             case MAV_PARAM_TYPE_INT8:
             {
                 // Variant
-                QVariant param(val.param_int8);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant(QChar((char)val.param_float));
+                }
+                else
+                {
+                    param = QVariant(QChar((char)val.param_int8));
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                 //qDebug() << "RECEIVED PARAM:" << param;
             }
+                break;
             case MAV_PARAM_TYPE_INT16:
             {
                 // Variant
-                QVariant param(val.param_int16);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant((short)val.param_float);
+                }
+                else
+                {
+                    param = QVariant(val.param_int16);
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                 //qDebug() << "RECEIVED PARAM:" << param;
             }
+                break;
             case MAV_PARAM_TYPE_UINT32:
             {
                 // Variant
-                QVariant param(val.param_uint32);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant((unsigned int)val.param_float);
+                }
+                else
+                {
+                    param = QVariant(val.param_uint32);
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
@@ -937,7 +980,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             case MAV_PARAM_TYPE_INT32:
             {
                 // Variant
-                QVariant param(val.param_int32);
+                QVariant param;
+                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+                {
+                    param = QVariant((int)val.param_float);
+                }
+                else
+                {
+                    param = QVariant(val.param_int32);
+                }
                 parameters.value(component)->insert(parameterName, param);
                 // Emit change
                 emit parameterChanged(uasId, message.compid, parameterName, param);
@@ -947,7 +998,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 break;
             default:
                 qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
-            }
+            } //switch (value.param_type)
         }
             break;
         case MAVLINK_MSG_ID_COMMAND_ACK:
@@ -2283,10 +2334,37 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         mavlink_param_union_t union_value;
 
         // Assign correct value based on QVariant
+        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+        {
             switch (value.type())
             {
             case QVariant::Char:
-	    union_value.param_int8 = value.toChar().toAscii();
+                union_value.param_float = (unsigned char)value.toChar().toAscii();
+                p.param_type = MAV_PARAM_TYPE_INT8;
+                break;
+            case QVariant::Int:
+                union_value.param_float = value.toInt();
+                p.param_type = MAV_PARAM_TYPE_INT32;
+                break;
+            case QVariant::UInt:
+                union_value.param_float = value.toUInt();
+                p.param_type = MAV_PARAM_TYPE_UINT32;
+                break;
+            case QMetaType::Float:
+                union_value.param_float = value.toFloat();
+                p.param_type = MAV_PARAM_TYPE_REAL32;
+                break;
+            default:
+                qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
+                return;
+            }
+        }
+        else
+        {
+            switch (value.type())
+            {
+            case QVariant::Char:
+                union_value.param_int8 = (unsigned char)value.toChar().toAscii();
                 p.param_type = MAV_PARAM_TYPE_INT8;
                 break;
             case QVariant::Int:
@@ -2305,6 +2383,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
                 qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
                 return;
             }
+        }
 
         p.param_value = union_value.param_float;
         p.target_system = (uint8_t)uasId;