From e13b3a0d434294930384fa1fd8e802f0936b07e9 Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Mon, 8 Apr 2013 16:57:10 -0400
Subject: [PATCH] Addition of INT8 and INT16 MAV_PARAM_TYPE handling of
 incoming messages

---
 .../include/mavlink/v1.0/mavlink_types.h      |  2 ++
 src/uas/UAS.cc                                | 24 +++++++++++++++++++
 2 files changed, 26 insertions(+)

diff --git a/libs/mavlink/include/mavlink/v1.0/mavlink_types.h b/libs/mavlink/include/mavlink/v1.0/mavlink_types.h
index 5fbde97f7..704e77f81 100644
--- a/libs/mavlink/include/mavlink/v1.0/mavlink_types.h
+++ b/libs/mavlink/include/mavlink/v1.0/mavlink_types.h
@@ -35,6 +35,8 @@ typedef struct param_union {
 		uint32_t param_uint32;
 		uint8_t param_uint8;
 		uint8_t bytes[4];
+		int16_t param_int16;
+		int8_t param_int8;
 	};
 	uint8_t type;
 } mavlink_param_union_t;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 009fe5793..a431baad8 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -904,6 +904,26 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                 //qDebug() << "RECEIVED PARAM:" << param;
             }
+            case MAV_PARAM_TYPE_INT8:
+            {
+                // Variant
+                QVariant param(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;
+            }
+            case MAV_PARAM_TYPE_INT16:
+            {
+                // Variant
+                QVariant param(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;
+            }
             case MAV_PARAM_TYPE_UINT32:
             {
                 // Variant
@@ -2265,6 +2285,10 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         // Assign correct value based on QVariant
         switch (value.type())
         {
+        case QVariant::Char:
+	    union_value.param_int8 = value.toChar().toAscii();
+            p.param_type = MAV_PARAM_TYPE_INT8;
+            break;
         case QVariant::Int:
             union_value.param_int32 = value.toInt();
             p.param_type = MAV_PARAM_TYPE_INT32;
-- 
2.22.0