From 1ef980dafbe91cb239a53fc5e76eb19ef8492732 Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Sat, 24 Aug 2013 13:03:40 -0700
Subject: [PATCH] Respect component id passed to UAS::setParameter

---
 src/uas/UAS.cc                  | 12 ++++++------
 src/uas/UAS.h                   |  2 +-
 src/uas/UASParameterCommsMgr.cc |  4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 2c92ff6..3ba4158 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2368,9 +2368,9 @@ void UAS::enableExtra3Transmission(int rate)
  * @param component The component to set the parameter
  * @param id Name of the parameter
  */
-void UAS::setParameter(const int component, const QString& id, const QVariant& value)
+void UAS::setParameter(const int compId, const QString& paramId, const QVariant& value)
 {
-    if (!id.isNull())
+    if (!paramId.isNull())
     {
         mavlink_message_t msg;
         mavlink_param_set_t p;
@@ -2431,7 +2431,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
 
         p.param_value = union_value.param_float;
         p.target_system = (uint8_t)uasId;
-        p.target_component = (uint8_t)component;
+        p.target_component = (uint8_t)compId;
 
         //qDebug() << "SENT PARAM:" << value;
 
@@ -2439,9 +2439,9 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
         for (unsigned int i = 0; i < sizeof(p.param_id); i++)
         {
             // String characters
-            if ((int)i < id.length())
+            if ((int)i < paramId.length())
             {
-                p.param_id[i] = id.toAscii()[i];
+                p.param_id[i] = paramId.toAscii()[i];
             }
             else
             {
@@ -2449,7 +2449,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
                 p.param_id[i] = 0;
             }
         }
-        mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
+        mavlink_msg_param_set_encode(mavlink->getSystemId(), compId, &msg, &p);
         sendMessage(msg);
     }
 }
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 02d8159..6b5d34f 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -842,7 +842,7 @@ public slots:
     void requestParameter(int component, int id);
 
     /** @brief Set a system parameter */
-    void setParameter(const int component, const QString& id, const QVariant& value);
+    void setParameter(const int compId, const QString& paramId, const QVariant& value);
 
     /** @brief Write parameters to permanent storage */
     void writeParametersToStorage();
diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index abe2072..a62ab19 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -156,11 +156,11 @@ void UASParameterCommsMgr::emitPendingParameterCommit(int compId, const QString&
     }
         break;
     default:
-        qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
+        qCritical() << "ABORTED PARAM SEND, INVALID QVARIANT TYPE" << paramType;
         return;
     }
 
-    setParameterStatusMsg(tr("Requested write of: %1: %2").arg(key).arg(value.toDouble()));
+    setParameterStatusMsg(tr("Writing %1: %2 for comp. %3").arg(key).arg(value.toDouble()).arg(compId));
 
 }