Add input hold to sub firmware facts

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

@@ -210,6 +210,8 @@ void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
         _infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100);
     } else if (name == "PilotGain") {
         _infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100);
+    } else if (name == "InputHold") {
+        _infoFactGroup.getFact("input hold")->setRawValue(value.value);
     }
 }
 
@@ -236,6 +238,7 @@ const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
 const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
 const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
 const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain";
+const char* APMSubmarineFactGroup::_inputHoldFactName = "input hold";
 
 APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
     : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
@@ -244,12 +247,14 @@ APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
     , _lightsLevel1Fact  (0, _lightsLevel1FactName,  FactMetaData::valueTypeDouble)
     , _lightsLevel2Fact  (0, _lightsLevel2FactName,  FactMetaData::valueTypeDouble)
     , _pilotGainFact     (0, _pilotGainFactName,     FactMetaData::valueTypeDouble)
+    , _inputHoldFact     (0, _inputHoldFactName,     FactMetaData::valueTypeDouble)
 {
     _addFact(&_camTiltFact,       _camTiltFactName);
     _addFact(&_tetherTurnsFact,   _tetherTurnsFactName);
     _addFact(&_lightsLevel1Fact,  _lightsLevel1FactName);
     _addFact(&_lightsLevel2Fact,  _lightsLevel2FactName);
     _addFact(&_pilotGainFact,     _pilotGainFactName);
+    _addFact(&_inputHoldFact,     _inputHoldFactName);
 
     // Start out as not available "--.--"
     _camTiltFact.setRawValue       (std::numeric_limits<float>::quiet_NaN());
@@ -257,6 +262,7 @@ APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
     _lightsLevel1Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
     _lightsLevel2Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
     _pilotGainFact.setRawValue     (std::numeric_limits<float>::quiet_NaN());
+    _inputHoldFact.setRawValue     (std::numeric_limits<float>::quiet_NaN());
 }
 
 QString ArduSubFirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h

@@ -40,18 +40,21 @@ public:
     Q_PROPERTY(Fact* lightsLevel1  READ lightsLevel1  CONSTANT)
     Q_PROPERTY(Fact* lightsLevel2  READ lightsLevel2  CONSTANT)
     Q_PROPERTY(Fact* pilotGain     READ pilotGain     CONSTANT)
+    Q_PROPERTY(Fact* inputHold     READ inputHold     CONSTANT)
 
     Fact* camTilt       (void) { return &_camTiltFact; }
     Fact* tetherTurns   (void) { return &_tetherTurnsFact; }
     Fact* lightsLevel1  (void) { return &_lightsLevel1Fact; }
     Fact* lightsLevel2  (void) { return &_lightsLevel2Fact; }
     Fact* pilotGain     (void) { return &_pilotGainFact; }
+    Fact* inputHold     (void) { return &_inputHoldFact; }
 
     static const char* _camTiltFactName;
     static const char* _tetherTurnsFactName;
     static const char* _lightsLevel1FactName;
     static const char* _lightsLevel2FactName;
     static const char* _pilotGainFactName;
+    static const char* _inputHoldFactName;
 
     static const char* _settingsGroup;
 
@@ -61,6 +64,7 @@ private:
     Fact            _lightsLevel1Fact;
     Fact            _lightsLevel2Fact;
     Fact            _pilotGainFact;
+    Fact            _inputHoldFact;
 };
 
 class APMSubMode : public APMCustomMode

src/Vehicle/SubmarineFact.json

@@ -28,5 +28,10 @@
     "shortDescription": "Pilot Gain",
     "type":             "int16",
     "units":            "%"
+},
+{
+    "name":             "input hold",
+    "shortDescription": "Input Hold",
+    "type":             "int16"
 }
 ]