diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index f789b9c..e88fd7e 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -652,6 +652,7 @@ HEADERS += \
src/QmlControls/QmlObjectListModel.h \
src/QmlControls/QGCGeoBoundingCube.h \
src/QmlControls/RCChannelMonitorController.h \
+ src/QmlControls/RCToParamDialogController.h \
src/QmlControls/ScreenToolsController.h \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
src/Settings/ADSBVehicleManagerSettings.h \
@@ -857,6 +858,7 @@ SOURCES += \
src/QmlControls/QmlObjectListModel.cc \
src/QmlControls/QGCGeoBoundingCube.cc \
src/QmlControls/RCChannelMonitorController.cc \
+ src/QmlControls/RCToParamDialogController.cc \
src/QmlControls/ScreenToolsController.cc \
src/QtLocationPlugin/QMLControl/QGCMapEngineManager.cc \
src/Settings/ADSBVehicleManagerSettings.cc \
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 60c9112..aa51b64 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -159,6 +159,7 @@
<file alias="QGroundControl/Controls/RallyPointItemEditor.qml">src/PlanView/RallyPointItemEditor.qml</file>
<file alias="QGroundControl/Controls/RallyPointMapVisuals.qml">src/PlanView/RallyPointMapVisuals.qml</file>
<file alias="QGroundControl/Controls/RCChannelMonitor.qml">src/QmlControls/RCChannelMonitor.qml</file>
+ <file alias="QGroundControl/Controls/RCToParamDialog.qml">src/QmlControls/RCToParamDialog.qml</file>
<file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
<file alias="QGroundControl/Controls/SectionHeader.qml">src/QmlControls/SectionHeader.qml</file>
<file alias="QGroundControl/Controls/SetupPage.qml">src/AutoPilotPlugins/Common/SetupPage.qml</file>
@@ -278,6 +279,7 @@
<file alias="PlanView.SettingsGroup.json">src/Settings/PlanView.SettingsGroup.json</file>
<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
<file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
+ <file alias="RCToParamDialog.FactMetaData.json">src/QmlControls/RCToParamDialog.FactMetaData.json</file>
<file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
<file alias="SpeedSection.FactMetaData.json">src/MissionManager/SpeedSection.FactMetaData.json</file>
<file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 036e3bc..1ab8d80 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -101,6 +101,7 @@
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#include "ValuesWidgetController.h"
+#include "RCToParamDialogController.h"
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
@@ -540,6 +541,7 @@ void QGCApplication::_initCommon()
qmlRegisterType<LogDownloadController> (kQGCControllers, 1, 0, "LogDownloadController");
qmlRegisterType<SyslinkComponentController> (kQGCControllers, 1, 0, "SyslinkComponentController");
qmlRegisterType<EditPositionDialogController> (kQGCControllers, 1, 0, "EditPositionDialogController");
+ qmlRegisterType<RCToParamDialogController> (kQGCControllers, 1, 0, "RCToParamDialogController");
#ifndef __mobile__
#ifndef NO_SERIAL_LINK
diff --git a/src/QmlControls/ParameterEditor.qml b/src/QmlControls/ParameterEditor.qml
index 310dd4c..32c2e45 100644
--- a/src/QmlControls/ParameterEditor.qml
+++ b/src/QmlControls/ParameterEditor.qml
@@ -28,7 +28,8 @@ Item {
property int _rowWidth: 10 // Dynamic adjusted at runtime
property bool _searchFilter: searchText.text.trim() != "" ///< true: showing results of search
property var _searchResults ///< List of parameter names from search results
- property bool _showRCToParam: !ScreenTools.isMobile && QGroundControl.multiVehicleManager.activeVehicle.px4Firmware
+ property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+ property bool _showRCToParam: _activeVehicle.px4Firmware
property var _appSettings: QGroundControl.settingsManager.appSettings
ParameterEditorController {
@@ -133,8 +134,8 @@ Item {
}
QGCMenuSeparator { visible: _showRCToParam }
QGCMenuItem {
- text: qsTr("Clear RC to Param")
- onTriggered: controller.clearRCToParam()
+ text: qsTr("Clear all RC to Param")
+ onTriggered: _activeVehicle.clearAllParamMapRC()
visible: _showRCToParam
}
QGCMenuSeparator { }
diff --git a/src/QmlControls/ParameterEditorController.cc b/src/QmlControls/ParameterEditorController.cc
index 31b7059..8d4a4b8 100644
--- a/src/QmlControls/ParameterEditorController.cc
+++ b/src/QmlControls/ParameterEditorController.cc
@@ -86,13 +86,6 @@ QStringList ParameterEditorController::searchParameters(const QString& searchTex
return list;
}
-void ParameterEditorController::clearRCToParam(void)
-{
- if (_uas) {
- _uas->unsetRCToParameterMap();
- }
-}
-
void ParameterEditorController::saveToFile(const QString& filename)
{
if (!filename.isEmpty()) {
diff --git a/src/QmlControls/ParameterEditorController.h b/src/QmlControls/ParameterEditorController.h
index 5a43a07..41c262c 100644
--- a/src/QmlControls/ParameterEditorController.h
+++ b/src/QmlControls/ParameterEditorController.h
@@ -41,7 +41,6 @@ public:
Q_INVOKABLE QStringList getGroupsForCategory(const QString& category);
Q_INVOKABLE QStringList searchParameters(const QString& searchText, bool searchInName=true, bool searchInDescriptions=true);
- Q_INVOKABLE void clearRCToParam(void);
Q_INVOKABLE void saveToFile(const QString& filename);
Q_INVOKABLE void loadFromFile(const QString& filename);
Q_INVOKABLE void refresh(void);
diff --git a/src/QmlControls/ParameterEditorDialog.qml b/src/QmlControls/ParameterEditorDialog.qml
index 50ea2c9..7104fb8 100644
--- a/src/QmlControls/ParameterEditorDialog.qml
+++ b/src/QmlControls/ParameterEditorDialog.qml
@@ -10,6 +10,7 @@
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtQuick.Layouts 1.2
+import QtQuick.Dialogs 1.3
import QGroundControl 1.0
import QGroundControl.Controls 1.0
@@ -125,8 +126,8 @@ QGCViewDialog {
Layout.fillWidth: true
focus: setFocus
inputMethodHints: (fact.typeIsString || ScreenTools.isiOS) ?
- Qt.ImhNone : // iOS numeric keyboard has no done button, we can't use it
- Qt.ImhFormattedNumbersOnly // Forces use of virtual numeric keyboard
+ Qt.ImhNone : // iOS numeric keyboard has no done button, we can't use it
+ Qt.ImhFormattedNumbersOnly // Forces use of virtual numeric keyboard
}
QGCButton {
@@ -286,11 +287,19 @@ QGCViewDialog {
}
QGCButton {
- text: qsTr("Set RC to Param...")
- width: _editFieldWidth
- visible: _advanced.checked && !validate && showRCToParam
- onClicked: controller.setRCToParam(fact.name)
+ text: qsTr("Set RC to Param")
+ width: _editFieldWidth
+ visible: _advanced.checked && !validate && showRCToParam
+ onClicked: mainWindow.showPopupDialog(rcToParamDialog)
}
} // Column
}
+
+ Component {
+ id: rcToParamDialog
+
+ RCToParamDialog {
+ tuningFact: fact
+ }
+ }
} // QGCViewDialog
diff --git a/src/QmlControls/QGroundControl/Controls/qmldir b/src/QmlControls/QGroundControl/Controls/qmldir
index 64250fb..469d041 100644
--- a/src/QmlControls/QGroundControl/Controls/qmldir
+++ b/src/QmlControls/QGroundControl/Controls/qmldir
@@ -80,6 +80,7 @@ RallyPointEditorHeader 1.0 RallyPointEditorHeader.qml
RallyPointItemEditor 1.0 RallyPointItemEditor.qml
RallyPointMapVisuals 1.0 RallyPointMapVisuals.qml
RCChannelMonitor 1.0 RCChannelMonitor.qml
+RCToParamDialog 1.0 RCToParamDialog.qml
RoundButton 1.0 RoundButton.qml
SectionHeader 1.0 SectionHeader.qml
SetupPage 1.0 SetupPage.qml
diff --git a/src/QmlControls/RCToParamDialog.FactMetaData.json b/src/QmlControls/RCToParamDialog.FactMetaData.json
new file mode 100644
index 0000000..63d3af9
--- /dev/null
+++ b/src/QmlControls/RCToParamDialog.FactMetaData.json
@@ -0,0 +1,31 @@
+[
+{
+ "name": "Scale",
+ "shortDescription": "Scale the RC range",
+ "type": "double",
+ "min": -1,
+ "max": 1,
+ "defaultValue": 1,
+ "decimalPlaces": 1
+},
+{
+ "name": "CenterValue",
+ "shortDescription": "Parameter value when RC output is 0",
+ "type": "double",
+ "min": -180.0,
+ "max": 180.0,
+ "decimalPlaces": 7
+},
+{
+ "name": "MinValue",
+ "shortDescription": "Minimum parameter value",
+ "type": "double",
+ "decimalPlaces": 7
+},
+{
+ "name": "MaxValue",
+ "shortDescription": "Maximum parameter value",
+ "type": "double",
+ "decimalPlaces": 7
+}
+]
diff --git a/src/QmlControls/RCToParamDialog.qml b/src/QmlControls/RCToParamDialog.qml
new file mode 100644
index 0000000..f7d6a18
--- /dev/null
+++ b/src/QmlControls/RCToParamDialog.qml
@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick 2.12
+import QtQuick.Layouts 1.2
+import QtQuick.Controls 2.5
+import QtQuick.Dialogs 1.3
+
+import QGroundControl 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.FactSystem 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.Controllers 1.0
+
+QGCPopupDialog {
+ property alias tuningFact: controller.tuningFact
+
+ title: qsTr("RC To Param")
+ buttons: StandardButton.Cancel | StandardButton.Ok
+
+ function accept() {
+ QGroundControl.multiVehicleManager.activeVehicle.sendParamMapRC(tuningFact.name, scale.text, centerValue.text, tuningID.currentIndex, minValue.text, maxValue.text);
+ hideDialog()
+ }
+
+ RCToParamDialogController {
+ id: controller
+ }
+
+ ColumnLayout {
+ spacing: ScreenTools.defaultDialogControlSpacing
+
+ QGCLabel {
+ Layout.preferredWidth: mainGrid.width
+ Layout.fillWidth: true
+ wrapMode: Text.WordWrap
+ text: qsTr("Bind an RC Channel to a parameter value. Tuning IDs can be mapped to an RC Channel from Radio Setup page.")
+ }
+
+ QGCLabel {
+ Layout.preferredWidth: mainGrid.width
+ Layout.fillWidth: true
+ text: qsTr("Waiting on parameter update from Vehicle.")
+ visible: !controller.ready
+ }
+
+ GridLayout {
+ id: mainGrid
+ columns: 2
+ rowSpacing: ScreenTools.defaultDialogControlSpacing
+ columnSpacing: ScreenTools.defaultDialogControlSpacing
+ enabled: controller.ready
+
+ QGCLabel { text: qsTr("Parameter") }
+ QGCLabel { text: tuningFact.name }
+
+ QGCLabel { text: qsTr("Tuning ID") }
+ QGCComboBox {
+ id: tuningID
+ Layout.fillWidth: true
+ currentIndex: 0
+ model: [ 1, 2, 3 ]
+ }
+
+ QGCLabel { text: qsTr("Scale") }
+ QGCTextField {
+ id: scale
+ text: controller.scale.valueString
+ }
+
+ QGCLabel { text: qsTr("Center Value") }
+ QGCTextField {
+ id: centerValue
+ text: controller.center.valueString
+ }
+
+ QGCLabel { text: qsTr("Min Value") }
+ QGCTextField {
+ id: minValue
+ text: controller.min.valueString
+ }
+
+ QGCLabel { text: qsTr("Max Value") }
+ QGCTextField {
+ id: maxValue
+ text: controller.max.valueString
+ }
+ }
+
+ QGCLabel {
+ Layout.preferredWidth: mainGrid.width
+ Layout.fillWidth: true
+ wrapMode: Text.WordWrap
+ text: qsTr("Double check that all values are correct prior to confirming dialog.")
+ }
+ }
+}
diff --git a/src/QmlControls/RCToParamDialogController.cc b/src/QmlControls/RCToParamDialogController.cc
new file mode 100644
index 0000000..a675351
--- /dev/null
+++ b/src/QmlControls/RCToParamDialogController.cc
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "RCToParamDialogController.h"
+#include "QGCApplication.h"
+#include "ParameterManager.h"
+
+const char* RCToParamDialogController::_scaleFactName = "Scale";
+const char* RCToParamDialogController::_centerFactName = "CenterValue";
+const char* RCToParamDialogController::_minFactName = "MinValue";
+const char* RCToParamDialogController::_maxFactName = "MaxValue";
+
+QMap<QString, FactMetaData*> RCToParamDialogController::_metaDataMap;
+
+RCToParamDialogController::RCToParamDialogController(void)
+ : _scaleFact (0, _scaleFactName, FactMetaData::valueTypeDouble)
+ , _centerFact (0, _centerFactName, FactMetaData::valueTypeDouble)
+ , _minFact (0, _minFactName, FactMetaData::valueTypeDouble)
+ , _maxFact (0, _maxFactName, FactMetaData::valueTypeDouble)
+{
+ if (_metaDataMap.isEmpty()) {
+ _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/RCToParamDialog.FactMetaData.json"), nullptr /* QObject parent */);
+ }
+
+ _scaleFact.setMetaData (_metaDataMap[_scaleFactName], true /* setDefaultFromMetaData */);
+ _centerFact.setMetaData (_metaDataMap[_centerFactName]);
+ _minFact.setMetaData (_metaDataMap[_minFactName]);
+ _maxFact.setMetaData (_metaDataMap[_maxFactName]);
+}
+
+void RCToParamDialogController::setTuningFact(Fact* tuningFact)
+{
+ _tuningFact = tuningFact;
+ emit tuningFactChanged(tuningFact);
+
+ _centerFact.setRawValue(_tuningFact->rawValue().toDouble());
+ _minFact.setRawValue(_tuningFact->rawMin().toDouble());
+ _maxFact.setRawValue(_tuningFact->rawMax().toDouble());
+
+ connect(_tuningFact, &Fact::vehicleUpdated, this, &RCToParamDialogController::_parameterUpdated);
+ qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->parameterManager()->refreshParameter(FactSystem::defaultComponentId, _tuningFact->name());
+}
+
+void RCToParamDialogController::_parameterUpdated(void)
+{
+ _ready = true;
+ emit readyChanged(true);
+}
diff --git a/src/QmlControls/RCToParamDialogController.h b/src/QmlControls/RCToParamDialogController.h
new file mode 100644
index 0000000..7f8cb28
--- /dev/null
+++ b/src/QmlControls/RCToParamDialogController.h
@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QGeoCoordinate>
+
+#include "FactSystem.h"
+
+class RCToParamDialogController : public QObject
+{
+ Q_OBJECT
+
+public:
+ RCToParamDialogController(void);
+
+ Q_PROPERTY(Fact* tuningFact READ tuningFact WRITE setTuningFact NOTIFY tuningFactChanged)
+ Q_PROPERTY(bool ready MEMBER _ready NOTIFY readyChanged) // true: editing can begin, false: still waiting for param update from vehicle
+ Q_PROPERTY(Fact* scale READ scale CONSTANT)
+ Q_PROPERTY(Fact* center READ center CONSTANT)
+ Q_PROPERTY(Fact* min READ min CONSTANT)
+ Q_PROPERTY(Fact* max READ max CONSTANT)
+
+ Fact* tuningFact (void) { return _tuningFact; }
+ Fact* scale (void) { return &_scaleFact; }
+ Fact* center (void) { return &_centerFact; }
+ Fact* min (void) { return &_minFact; }
+ Fact* max (void) { return &_maxFact; }
+ void setTuningFact (Fact* tuningFact);
+
+signals:
+ void tuningFactChanged (Fact* fact);
+ void readyChanged (bool ready);
+
+private slots:
+ void _parameterUpdated(void);
+
+private:
+ static QMap<QString, FactMetaData*> _metaDataMap;
+
+ Fact* _tuningFact = nullptr;
+ bool _ready = false;
+ Fact _scaleFact;
+ Fact _centerFact;
+ Fact _minFact;
+ Fact _maxFact;
+
+ static const char* _scaleFactName;
+ static const char* _centerFactName;
+ static const char* _minFactName;
+ static const char* _maxFactName;
+};
diff --git a/src/QmlControls/ScreenTools.qml b/src/QmlControls/ScreenTools.qml
index 5cc5958..a151a49 100644
--- a/src/QmlControls/ScreenTools.qml
+++ b/src/QmlControls/ScreenTools.qml
@@ -46,6 +46,9 @@ Item {
/// QFontMetrics::descent for default font at default point size
property real defaultFontDescent: 0
+ /// The default amount of space in between controls in a dialog
+ property real defaultDialogControlSpacing: defaultFontPixelHeight / 2
+
property real smallFontPointSize: 10
property real mediumFontPointSize: 10
property real largeFontPointSize: 10
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index d9c7ade..a3b5518 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -4337,6 +4337,54 @@ void Vehicle::updateFlightDistance(double distance)
_flightDistanceFact.setRawValue(_flightDistanceFact.rawValue().toDouble() + distance);
}
+void Vehicle::sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue)
+{
+ mavlink_message_t message;
+
+ char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
+ // Copy string into buffer, ensuring not to exceed the buffer size
+ for (unsigned int i = 0; i < sizeof(param_id_cstr); i++) {
+ if ((int)i < paramName.length()) {
+ param_id_cstr[i] = paramName.toLatin1()[i];
+ }
+ }
+
+ mavlink_msg_param_map_rc_pack_chan(static_cast<uint8_t>(_mavlink->getSystemId()),
+ static_cast<uint8_t>(_mavlink->getComponentId()),
+ priorityLink()->mavlinkChannel(),
+ &message,
+ _id,
+ MAV_COMP_ID_AUTOPILOT1,
+ param_id_cstr,
+ -1, // parameter name specified as string in previous argument
+ static_cast<uint8_t>(tuningID),
+ static_cast<float>(scale),
+ static_cast<float>(centerValue),
+ static_cast<float>(minValue),
+ static_cast<float>(maxValue));
+ sendMessageOnLink(priorityLink(), message);
+}
+
+void Vehicle::clearAllParamMapRC(void)
+{
+ char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
+
+ for (int i = 0; i < 3; i++) {
+ mavlink_message_t message;
+ mavlink_msg_param_map_rc_pack_chan(static_cast<uint8_t>(_mavlink->getSystemId()),
+ static_cast<uint8_t>(_mavlink->getComponentId()),
+ priorityLink()->mavlinkChannel(),
+ &message,
+ _id,
+ MAV_COMP_ID_AUTOPILOT1,
+ param_id_cstr,
+ -2, // Disable map for specified tuning id
+ i, // tuning id
+ 0, 0, 0, 0); // unused
+ sendMessageOnLink(priorityLink(), message);
+ }
+}
+
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 33cf7ed..e8b0d22 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -781,6 +781,13 @@ public:
Q_INVOKABLE void gimbalYawStep (int direction);
Q_INVOKABLE void centerGimbal ();
+ /// Sends PARAM_MAP_RC message to vehicle
+ Q_INVOKABLE void sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue);
+
+ /// Clears all PARAM_MAP_RC settings from vehicle
+ Q_INVOKABLE void clearAllParamMapRC(void);
+
+
#if !defined(NO_ARDUPILOT_DIALECT)
Q_INVOKABLE void flashBootloader();
#endif
diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc
index f296126..d7c0d4f 100644
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -505,6 +505,10 @@ void MockLink::_handleIncomingMavlinkBytes(const uint8_t* bytes, int cBytes)
_handleLogRequestData(msg);
break;
+ case MAVLINK_MSG_ID_PARAM_MAP_RC:
+ _handleParamMapRC(msg);
+ break;
+
default:
break;
}
@@ -517,6 +521,22 @@ void MockLink::_handleHeartBeat(const mavlink_message_t& msg)
qCDebug(MockLinkLog) << "Heartbeat";
}
+void MockLink::_handleParamMapRC(const mavlink_message_t& msg)
+{
+ mavlink_param_map_rc_t paramMapRC;
+ mavlink_msg_param_map_rc_decode(&msg, ¶mMapRC);
+
+ const QString paramName(QString::fromLocal8Bit(paramMapRC.param_id, static_cast<int>(strnlen(paramMapRC.param_id, MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN))));
+
+ if (paramMapRC.param_index == -1) {
+ qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: param(%1) tuningID(%2) centerValue(%3) scale(%4) min(%5) max(%6)").arg(paramName).arg(paramMapRC.parameter_rc_channel_index).arg(paramMapRC.param_value0).arg(paramMapRC.scale).arg(paramMapRC.param_value_min).arg(paramMapRC.param_value_max);
+ } else if (paramMapRC.param_index == -2) {
+ qDebug() << QStringLiteral("MockLink - PARAM_MAP_RC: Clear tuningID(%1)").arg(paramMapRC.parameter_rc_channel_index);
+ } else {
+ qWarning() << QStringLiteral("MockLink - PARAM_MAP_RC: Unsupported param_index(%1)").arg(paramMapRC.param_index);
+ }
+}
+
void MockLink::_handleSetMode(const mavlink_message_t& msg)
{
mavlink_set_mode_t request;
diff --git a/src/comm/MockLink.h b/src/comm/MockLink.h
index 5b8a325..60aa7de 100644
--- a/src/comm/MockLink.h
+++ b/src/comm/MockLink.h
@@ -192,6 +192,7 @@ private:
void _handlePreFlightCalibration (const mavlink_command_long_t& request);
void _handleLogRequestList (const mavlink_message_t& msg);
void _handleLogRequestData (const mavlink_message_t& msg);
+ void _handleParamMapRC (const mavlink_message_t& msg);
float _floatUnionForParam (int componentId, const QString& paramName);
void _setParamFloatUnionIntoMap (int componentId, const QString& paramName, float paramFloat);
void _sendHomePosition (void);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 4a263d6..ab6dcc4 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -986,68 +986,6 @@ void UAS::pairRX(int rxType, int rxSubType)
}
}
-void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
-{
- if (!_vehicle) {
- return;
- }
-
- mavlink_message_t message;
-
- char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
- // Copy string into buffer, ensuring not to exceed the buffer size
- for (unsigned int i = 0; i < sizeof(param_id_cstr); i++)
- {
- if ((int)i < param_id.length())
- {
- param_id_cstr[i] = param_id.toLatin1()[i];
- }
- }
-
- mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
- mavlink->getComponentId(),
- _vehicle->priorityLink()->mavlinkChannel(),
- &message,
- this->uasId,
- _vehicle->defaultComponentId(),
- param_id_cstr,
- -1,
- param_rc_channel_index,
- value0,
- scale,
- valueMin,
- valueMax);
- _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
- //qDebug() << "Mavlink message sent";
-}
-
-void UAS::unsetRCToParameterMap()
-{
- if (!_vehicle) {
- return;
- }
-
- char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
-
- for (int i = 0; i < 3; i++) {
- mavlink_message_t message;
- mavlink_msg_param_map_rc_pack_chan(mavlink->getSystemId(),
- mavlink->getComponentId(),
- _vehicle->priorityLink()->mavlinkChannel(),
- &message,
- this->uasId,
- _vehicle->defaultComponentId(),
- param_id_cstr,
- -2,
- i,
- 0.0f,
- 0.0f,
- 0.0f,
- 0.0f);
- _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
- }
-}
-
void UAS::shutdownVehicle(void)
{
_vehicle = nullptr;
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index e9faa24..9a38b6d 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -210,11 +210,6 @@ public slots:
void startBusConfig(StartBusConfigType calType);
void stopBusConfig(void);
- /** @brief Send command to map a RC channel to a parameter */
- void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
-
- /** @brief Send command to disable all bindings/maps between RC and parameters */
- void unsetRCToParameterMap();
signals:
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index c2aee79..e4e141a 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -82,12 +82,6 @@ public slots:
/** @brief Order the robot to pair its receiver **/
virtual void pairRX(int rxType, int rxSubType) = 0;
- /** @brief Send command to map a RC channel to a parameter */
- virtual void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax) = 0;
-
- /** @brief Send command to disable all bindings/maps between RC and parameters */
- virtual void unsetRCToParameterMap() = 0;
-
signals:
/** @brief The robot is connected **/
void connected();