Merge branch 'master' of github.com:gefink/qgroundcontrol

src/uas/UAS.cc

@@ -38,7 +38,10 @@
 * as the previous one created unless one calls deleteSettings in the code after
 * creating the UAS.
 */
+
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
+    lipoFull(4.2f),
+    lipoEmpty(3.5f),
     uasId(id),
     links(new QList<LinkInterface*>()),
     unknownPackets(),
@@ -3325,45 +3328,55 @@ QString UAS::getAudioModeTextFor(int id)
     return mode;
 }
 
+/**
+* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
+* @return the short text of the mode for the id given.
+*/
 /**
 * The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(int id)
 {
-    QString mode;
+    QString mode = "";
     uint8_t modeid = id;
 
-    qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
-    {
-        mode += "|AUTO";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
-    {
-        mode += "|VECTOR";
-    }
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
-    {
-        mode += "|STABILIZED";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
-    {
-        mode += "|TEST";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
-    {
-        mode += "|MANUAL";
-    }
-    else if (modeid == 0)
+
+    if (modeid == 0)
     {
         mode = "|PREFLIGHT";
     }
-    else
+    else {
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO){
+            mode += "|AUTO";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL){
+            mode += "|MANUAL";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED){
+            mode += "|VECTOR";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE){
+            mode += "|STABILIZED";
+        }
+
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST){
+            mode += "|TEST";
+        }
+
+
+    }
+
+    if (mode.length() == 0)
     {
         mode = "|UNKNOWN";
+        qDebug() << __FILE__ << __LINE__ << " Unknown modeid: " << modeid;
     }
 
     // ARMED STATE DECODING
@@ -3382,6 +3395,8 @@ QString UAS::getShortModeTextFor(int id)
         mode.prepend("HIL:");
     }
 
+    qDebug() << "MODE: " << modeid << " " << mode;
+
     return mode;
 }
 
@@ -3445,8 +3460,8 @@ void UAS::setBattery(BatteryType type, int cells)
     case LIION:
         break;
     case LIPOLY:
-        fullVoltage = this->cells * UAS::lipoFull;
-        emptyVoltage = this->cells * UAS::lipoEmpty;
+        fullVoltage = this->cells * lipoFull;
+        emptyVoltage = this->cells * lipoEmpty;
         break;
     case LIFE:
         break;

src/uas/UAS.h

@@ -56,8 +56,8 @@ public:
     UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
-    static const float lipoFull = 4.2f;  ///< 100% charged voltage
-    static const float lipoEmpty = 3.5f; ///< Discharged voltage
+    float lipoFull;  ///< 100% charged voltage
+    float lipoEmpty; ///< Discharged voltage
 
     /* MANAGEMENT */
 

src/ui/QGCParamWidget.cc

@@ -705,7 +705,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
                 current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
             }
 
-            switch (parameters.value(key)->value(str).type())
+            switch ((int)parameters.value(key)->value(str).type())
             {
             case QVariant::Int:
             {
@@ -766,7 +766,7 @@ void QGCParamWidget::saveParameters()
             {
                 QString paramValue("%1");
                 QString paramType("%1");
-                switch (j.value().type())
+                switch ((int)j.value().type())
                 {
                 case QVariant::Int:
                     paramValue = paramValue.arg(j.value().toInt());
@@ -777,7 +777,9 @@ void QGCParamWidget::saveParameters()
                     paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
                     break;
                 case QMetaType::Float:
-                    paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
+                    // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
+                    // (see IEEE 754, 32 bit single-precision)
+                    paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
                     paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
                     break;
                 default:
@@ -955,7 +957,7 @@ void QGCParamWidget::retransmissionGuardTick()
                 if (count < retransmissionBurstRequestSize) {
                     // Re-request write operation
                     QVariant value = missingParams->value(key);
-                    switch (parameters.value(component)->value(key).type())
+                    switch ((int)parameters.value(component)->value(key).type())
                     {
                     case QVariant::Int:
                     {
@@ -1020,7 +1022,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
         return;
     }
 
-    switch (parameters.value(component)->value(parameterName).type())
+    switch ((int)parameters.value(component)->value(parameterName).type())
     {
     case QVariant::Char:
     {

src/ui/uas/UASControlWidget.cc

@@ -51,12 +51,17 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     ui.modeComboBox->clear();
-    ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT).remove(0, 2), MAV_MODE_PREFLIGHT);
-    ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
-    ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED).remove(0, 2), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
-    ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
-    ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
-    ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
+    int modes[] = {
+        MAV_MODE_PREFLIGHT,
+        MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
+        MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
+        MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED,
+        MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED,
+    };
+    for (int i = 0; i < sizeof(modes) / sizeof(int); i++) {
+        int mode = modes[i];
+        ui.modeComboBox->insertItem(i, UAS::getShortModeTextFor(mode).remove(0, 2), mode);
+    }
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));