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@ -49,6 +49,8 @@ FactMetaData* MissionItem::_supportedCommandMetaData = NULL; |
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const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces")); |
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const QString MissionItem::_decimalPlacesJsonKey (QStringLiteral("decimalPlaces")); |
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const QString MissionItem::_defaultJsonKey (QStringLiteral("default")); |
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const QString MissionItem::_defaultJsonKey (QStringLiteral("default")); |
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const QString MissionItem::_descriptionJsonKey (QStringLiteral("description")); |
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const QString MissionItem::_descriptionJsonKey (QStringLiteral("description")); |
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const QString MissionItem::_enumStringsJsonKey (QStringLiteral("enumStrings")); |
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const QString MissionItem::_enumValuesJsonKey (QStringLiteral("enumValues")); |
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const QString MissionItem::_friendlyEditJsonKey (QStringLiteral("friendlyEdit")); |
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const QString MissionItem::_friendlyEditJsonKey (QStringLiteral("friendlyEdit")); |
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const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName")); |
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const QString MissionItem::_friendlyNameJsonKey (QStringLiteral("friendlyName")); |
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const QString MissionItem::_idJsonKey (QStringLiteral("id")); |
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const QString MissionItem::_idJsonKey (QStringLiteral("id")); |
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@ -64,6 +66,7 @@ const QString MissionItem::_specifiesCoordinateJsonKey (QStringLiteral("specifi |
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const QString MissionItem::_unitsJsonKey (QStringLiteral("units")); |
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const QString MissionItem::_unitsJsonKey (QStringLiteral("units")); |
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const QString MissionItem::_versionJsonKey (QStringLiteral("version")); |
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const QString MissionItem::_versionJsonKey (QStringLiteral("version")); |
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const QString MissionItem::_degreesConvertUnits (QStringLiteral("degreesConvert")); |
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const QString MissionItem::_degreesUnits (QStringLiteral("degrees")); |
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const QString MissionItem::_degreesUnits (QStringLiteral("degrees")); |
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QMap<MAV_CMD, MissionItem::MavCmdInfo_t> MissionItem::_mavCmdInfoMap; |
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QMap<MAV_CMD, MissionItem::MavCmdInfo_t> MissionItem::_mavCmdInfoMap; |
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@ -116,8 +119,8 @@ MissionItem::MissionItem(QObject* parent) |
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, _homePositionValid(false) |
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, _homePositionValid(false) |
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, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32) |
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, _altitudeRelativeToHomeFact (0, "Altitude is relative to home", FactMetaData::valueTypeUint32) |
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, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32) |
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, _autoContinueFact (0, "AutoContinue", FactMetaData::valueTypeUint32) |
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, _commandFact (0, "Command:", FactMetaData::valueTypeUint32) |
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, _commandFact (0, "", FactMetaData::valueTypeUint32) |
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, _frameFact (0, "Frame:", FactMetaData::valueTypeUint32) |
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, _frameFact (0, "", FactMetaData::valueTypeUint32) |
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble) |
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, _param1Fact (0, "Param1:", FactMetaData::valueTypeDouble) |
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble) |
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, _param2Fact (0, "Param2:", FactMetaData::valueTypeDouble) |
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble) |
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, _param3Fact (0, "Param3:", FactMetaData::valueTypeDouble) |
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@ -130,6 +133,9 @@ MissionItem::MissionItem(QObject* parent) |
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, _param2MetaData(FactMetaData::valueTypeDouble) |
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, _param2MetaData(FactMetaData::valueTypeDouble) |
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, _param3MetaData(FactMetaData::valueTypeDouble) |
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, _param3MetaData(FactMetaData::valueTypeDouble) |
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, _param4MetaData(FactMetaData::valueTypeDouble) |
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, _param4MetaData(FactMetaData::valueTypeDouble) |
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, _param5MetaData(FactMetaData::valueTypeDouble) |
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, _param6MetaData(FactMetaData::valueTypeDouble) |
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, _param7MetaData(FactMetaData::valueTypeDouble) |
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, _syncingAltitudeRelativeToHomeAndFrame (false) |
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, _syncingAltitudeRelativeToHomeAndFrame (false) |
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, _syncingHeadingDegreesAndParam4 (false) |
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, _syncingHeadingDegreesAndParam4 (false) |
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, _syncingSupportedCommandAndCommand (false) |
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, _syncingSupportedCommandAndCommand (false) |
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@ -177,6 +183,9 @@ MissionItem::MissionItem(int sequenceNumber, |
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, _param2MetaData(FactMetaData::valueTypeDouble) |
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, _param2MetaData(FactMetaData::valueTypeDouble) |
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, _param3MetaData(FactMetaData::valueTypeDouble) |
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, _param3MetaData(FactMetaData::valueTypeDouble) |
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, _param4MetaData(FactMetaData::valueTypeDouble) |
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, _param4MetaData(FactMetaData::valueTypeDouble) |
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, _param5MetaData(FactMetaData::valueTypeDouble) |
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, _param6MetaData(FactMetaData::valueTypeDouble) |
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, _param7MetaData(FactMetaData::valueTypeDouble) |
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, _syncingAltitudeRelativeToHomeAndFrame (false) |
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, _syncingAltitudeRelativeToHomeAndFrame (false) |
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, _syncingHeadingDegreesAndParam4 (false) |
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, _syncingHeadingDegreesAndParam4 (false) |
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, _syncingSupportedCommandAndCommand (false) |
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, _syncingSupportedCommandAndCommand (false) |
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@ -293,6 +302,9 @@ void MissionItem::_connectSignals(void) |
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged); |
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged); |
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connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged); |
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connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFriendlyEditAllowedChanged); |
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// When the command changes we need to set defaults. This must go out before the signals below so it must be registered first.
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand); |
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// Whenever these properties change the ui model changes as well
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// Whenever these properties change the ui model changes as well
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connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged); |
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connect(this, &MissionItem::commandChanged, this, &MissionItem::_sendUiModelChanged); |
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connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged); |
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connect(this, &MissionItem::rawEditChanged, this, &MissionItem::_sendUiModelChanged); |
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@ -301,8 +313,6 @@ void MissionItem::_connectSignals(void) |
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged); |
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::_sendCommandChanged); |
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connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged); |
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connect(&_frameFact, &Fact::valueChanged, this, &MissionItem::_sendFrameChanged); |
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// When the command changes we need to set defaults
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connect(&_commandFact, &Fact::valueChanged, this, &MissionItem::setDefaultsForCommand); |
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} |
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} |
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bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types) |
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bool MissionItem::_validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types) |
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@ -398,7 +408,7 @@ bool MissionItem::_loadMavCmdInfoJson(void) |
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// Read params
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// Read params
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for (int i=1; i<5; i++) { |
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for (int i=1; i<=7; i++) { |
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QString paramKey = QString(_paramJsonKeyFormat).arg(i); |
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QString paramKey = QString(_paramJsonKeyFormat).arg(i); |
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if (jsonObject.contains(paramKey)) { |
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if (jsonObject.contains(paramKey)) { |
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@ -407,8 +417,8 @@ bool MissionItem::_loadMavCmdInfoJson(void) |
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// Validate key types
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// Validate key types
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QStringList keys; |
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QStringList keys; |
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QList<QJsonValue::Type> types; |
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QList<QJsonValue::Type> types; |
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keys << _labelJsonKey << _unitsJsonKey << _defaultJsonKey << _decimalPlacesJsonKey; |
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keys << _defaultJsonKey << _decimalPlacesJsonKey << _enumStringsJsonKey << _enumValuesJsonKey << _labelJsonKey << _unitsJsonKey; |
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types << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double; |
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types << QJsonValue::Double << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String; |
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if (!_validateKeyTypes(paramObject, keys, types)) { |
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if (!_validateKeyTypes(paramObject, keys, types)) { |
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return false; |
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return false; |
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} |
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} |
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@ -420,10 +430,41 @@ bool MissionItem::_loadMavCmdInfoJson(void) |
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return false; |
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return false; |
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} |
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} |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].param = i; |
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_mavCmdInfoMap[mavCmdInfo.command].friendlyEdit = true; // Assume friendly edit if we have params
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString(); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].defaultValue = paramObject.value(_defaultJsonKey).toDouble(0.0); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].decimalPlaces = paramObject.value(_decimalPlacesJsonKey).toInt(FactMetaData::defaultDecimalPlaces); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings = paramObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts); |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].param = i; |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].units = paramObject.value(_unitsJsonKey).toString(); |
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QStringList enumValues = paramObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts); |
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foreach (QString enumValue, enumValues) { |
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bool convertOk; |
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double value = enumValue.toDouble(&convertOk); |
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if (!convertOk) { |
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qWarning() << "Bad enumValue" << enumValue; |
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return false; |
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} |
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_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumValues << QVariant(value); |
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} |
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if (_mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count() != _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count()) { |
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qWarning() << "enum strings/values count mismatch" << _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count() << _mavCmdInfoMap[mavCmdInfo.command].paramInfoMap[i].enumStrings.count(); |
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return false; |
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} |
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} |
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} |
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if (mavCmdInfo.friendlyEdit) { |
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if (mavCmdInfo.description.isEmpty()) { |
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qWarning() << "Missing description" << mavCmdInfo.rawName; |
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return false; |
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} |
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if (mavCmdInfo.rawName == mavCmdInfo.friendlyName) { |
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qWarning() << "Missing friendly name" << mavCmdInfo.rawName << mavCmdInfo.friendlyName; |
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return false; |
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} |
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} |
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} |
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} |
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} |
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} |
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@ -692,48 +733,26 @@ QmlObjectListModel* MissionItem::textFieldFacts(void) |
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MAV_CMD command = (MAV_CMD)this->command(); |
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MAV_CMD command = (MAV_CMD)this->command(); |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(1)) { |
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Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; |
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_param1Fact._setName(_mavCmdInfoMap[command].paramInfoMap[1].label); |
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FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData }; |
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_param1MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[1].units); |
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_param1MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[1].decimalPlaces); |
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if (_mavCmdInfoMap[command].paramInfoMap[1].units == _degreesUnits) { |
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_param1MetaData.setTranslators(_radiansToDegrees, _degreesToRadians); |
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} |
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_param1Fact.setMetaData(&_param1MetaData); |
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model->append(&_param1Fact); |
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} |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(2)) { |
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_param2Fact._setName(_mavCmdInfoMap[command].paramInfoMap[2].label); |
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_param2MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[2].units); |
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_param2MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[2].decimalPlaces); |
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if (_mavCmdInfoMap[command].paramInfoMap[2].units == _degreesUnits) { |
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_param2MetaData.setTranslators(_radiansToDegrees, _degreesToRadians); |
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} |
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_param2Fact.setMetaData(&_param2MetaData); |
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model->append(&_param2Fact); |
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} |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(3)) { |
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for (int i=1; i<=7; i++) { |
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_param3Fact._setName(_mavCmdInfoMap[command].paramInfoMap[3].label); |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(i) && _mavCmdInfoMap[command].paramInfoMap[i].enumStrings.count() == 0) { |
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_param3MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[3].units); |
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Fact* paramFact = rgParamFacts[i-1]; |
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_param3MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[3].decimalPlaces); |
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FactMetaData* paramMetaData = rgParamMetaData[i-1]; |
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if (_mavCmdInfoMap[command].paramInfoMap[3].units == _degreesUnits) { |
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_param3MetaData.setTranslators(_radiansToDegrees, _degreesToRadians); |
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} |
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_param3Fact.setMetaData(&_param3MetaData); |
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model->append(&_param3Fact); |
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} |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(4)) { |
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paramFact->_setName(_mavCmdInfoMap[command].paramInfoMap[i].label); |
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_param4Fact._setName(_mavCmdInfoMap[command].paramInfoMap[4].label); |
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paramMetaData->setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[i].decimalPlaces); |
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_param4MetaData.setUnits(_mavCmdInfoMap[command].paramInfoMap[4].units); |
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paramMetaData->setEnumInfo(_mavCmdInfoMap[command].paramInfoMap[i].enumStrings, _mavCmdInfoMap[command].paramInfoMap[i].enumValues); |
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_param4MetaData.setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[4].decimalPlaces); |
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if (_mavCmdInfoMap[command].paramInfoMap[i].units == _degreesConvertUnits) { |
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if (_mavCmdInfoMap[command].paramInfoMap[4].units == _degreesUnits) { |
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paramMetaData->setTranslators(_radiansToDegrees, _degreesToRadians); |
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_param4MetaData.setTranslators(_radiansToDegrees, _degreesToRadians); |
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paramMetaData->setUnits(_degreesUnits); |
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} else { |
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paramMetaData->setUnits(_mavCmdInfoMap[command].paramInfoMap[i].units); |
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} |
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paramFact->setMetaData(paramMetaData); |
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model->append(paramFact); |
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} |
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} |
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_param4Fact.setMetaData(&_param4MetaData); |
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model->append(&_param4Fact); |
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} |
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} |
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if (specifiesCoordinate()) { |
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if (specifiesCoordinate()) { |
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@ -767,6 +786,30 @@ QmlObjectListModel* MissionItem::comboboxFacts(void) |
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if (rawEdit()) { |
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if (rawEdit()) { |
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model->append(&_commandFact); |
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model->append(&_commandFact); |
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model->append(&_frameFact); |
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model->append(&_frameFact); |
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} else { |
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Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; |
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FactMetaData* rgParamMetaData[7] = { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData }; |
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MAV_CMD command = (MAV_CMD)this->command(); |
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for (int i=1; i<=7; i++) { |
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if (_mavCmdInfoMap[command].paramInfoMap.contains(i) && _mavCmdInfoMap[command].paramInfoMap[i].enumStrings.count()) { |
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Fact* paramFact = rgParamFacts[i-1]; |
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FactMetaData* paramMetaData = rgParamMetaData[i-1]; |
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paramFact->_setName(_mavCmdInfoMap[command].paramInfoMap[i].label); |
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paramMetaData->setDecimalPlaces(_mavCmdInfoMap[command].paramInfoMap[i].decimalPlaces); |
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paramMetaData->setEnumInfo(_mavCmdInfoMap[command].paramInfoMap[i].enumStrings, _mavCmdInfoMap[command].paramInfoMap[i].enumValues); |
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if (_mavCmdInfoMap[command].paramInfoMap[i].units == _degreesConvertUnits) { |
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paramMetaData->setTranslators(_radiansToDegrees, _degreesToRadians); |
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paramMetaData->setUnits(_degreesUnits); |
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} else { |
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paramMetaData->setUnits(_mavCmdInfoMap[command].paramInfoMap[i].units); |
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} |
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paramFact->setMetaData(paramMetaData); |
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model->append(paramFact); |
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} |
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} |
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} |
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} |
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return model; |
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return model; |
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@ -808,7 +851,7 @@ bool MissionItem::rawEdit(void) const |
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void MissionItem::setRawEdit(bool rawEdit) |
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void MissionItem::setRawEdit(bool rawEdit) |
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{ |
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{ |
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if (_rawEdit != rawEdit) { |
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if (this->rawEdit() != rawEdit) { |
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_rawEdit = rawEdit; |
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_rawEdit = rawEdit; |
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emit rawEditChanged(this->rawEdit()); |
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emit rawEditChanged(this->rawEdit()); |
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} |
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} |
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@ -893,22 +936,9 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value) |
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void MissionItem::setDefaultsForCommand(void) |
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void MissionItem::setDefaultsForCommand(void) |
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{ |
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{ |
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foreach (ParamInfo_t paramInfo, _mavCmdInfoMap[(MAV_CMD)command()].paramInfoMap) { |
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foreach (ParamInfo_t paramInfo, _mavCmdInfoMap[(MAV_CMD)command()].paramInfoMap) { |
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double defaultValue = paramInfo.defaultValue; |
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Fact* rgParamFacts[7] = { &_param1Fact, &_param2Fact, &_param3Fact, &_param4Fact, &_param5Fact, &_param6Fact, &_param7Fact }; |
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switch (paramInfo.param) { |
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rgParamFacts[paramInfo.param-1]->setRawValue(paramInfo.defaultValue); |
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case 1: |
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_param1Fact.setRawValue(defaultValue); |
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break; |
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case 2: |
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_param2Fact.setRawValue(defaultValue); |
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break; |
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case 3: |
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_param3Fact.setRawValue(defaultValue); |
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break; |
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case 4: |
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_param4Fact.setRawValue(defaultValue); |
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break; |
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} |
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} |
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} |
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setParam7(defaultAltitude); |
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setParam7(defaultAltitude); |
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Don Gagne
10 years ago