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Commit d6a36d7c authored by Michael Carpenter's avatar Michael Carpenter
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Disabled union conversions of incoming/outgoing parameters when connected to an APM. 

This will be removed once APM updates to support MAVLink
parameters properly.
parent c54da926
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Showing with 106 additions and 27 deletions
src/uas/UAS.cc
View file @ d6a36d7c
......@@ -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;
......
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