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@ -31,6 +31,8 @@ This file is part of the QGROUNDCONTROL project
@@ -31,6 +31,8 @@ This file is part of the QGROUNDCONTROL project
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#include <QGridLayout> |
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#include <QPushButton> |
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#include <QFileDialog> |
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#include <QFile> |
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#include "QGCParamWidget.h" |
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#include "UASInterface.h" |
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@ -46,7 +48,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
@@ -46,7 +48,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
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mav(uas), |
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components(new QMap<int, QTreeWidgetItem*>()), |
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paramGroups(), |
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changedValues() |
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changedValues(), |
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parameters() |
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{ |
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// Create tree widget
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tree = new QTreeWidget(this); |
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@ -61,18 +64,30 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
@@ -61,18 +64,30 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
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horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize); |
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horizontalLayout->addWidget(tree, 0, 0, 1, 3); |
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QPushButton* readButton = new QPushButton(tr("Read")); |
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connect(readButton, SIGNAL(clicked()), this, SLOT(requestParameterList())); |
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horizontalLayout->addWidget(readButton, 1, 0); |
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QPushButton* refreshButton = new QPushButton(tr("Refresh")); |
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connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList())); |
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horizontalLayout->addWidget(refreshButton, 1, 0); |
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QPushButton* setButton = new QPushButton(tr("Set (RAM)")); |
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QPushButton* setButton = new QPushButton(tr("Transmit")); |
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connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters())); |
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horizontalLayout->addWidget(setButton, 1, 1); |
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QPushButton* writeButton = new QPushButton(tr("Write (Disk)")); |
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QPushButton* writeButton = new QPushButton(tr("Write (ROM)")); |
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connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters())); |
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horizontalLayout->addWidget(writeButton, 1, 2); |
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QPushButton* readButton = new QPushButton(tr("Read (ROM)")); |
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connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters())); |
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horizontalLayout->addWidget(readButton, 2, 2); |
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QPushButton* loadFileButton = new QPushButton(tr("Load File")); |
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connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters())); |
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horizontalLayout->addWidget(loadFileButton, 2, 0); |
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QPushButton* saveFileButton = new QPushButton(tr("Save File")); |
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connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters())); |
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horizontalLayout->addWidget(saveFileButton, 2, 1); |
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// Set layout
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this->setLayout(horizontalLayout); |
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@ -128,6 +143,16 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
@@ -128,6 +143,16 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
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paramGroups.insert(component, new QMap<QString, QTreeWidgetItem*>()); |
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tree->addTopLevelItem(comp); |
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tree->update(); |
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// Create map in parameters
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if (!parameters.contains(component)) |
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{ |
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parameters.insert(component, new QMap<QString, float>()); |
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} |
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// Create map in changed parameters
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if (!changedValues.contains(component)) |
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{ |
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changedValues.insert(component, new QMap<QString, float>()); |
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} |
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} |
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} |
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@ -148,6 +173,13 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
@@ -148,6 +173,13 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
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addComponent(uas, component, "Component #" + QString::number(component)); |
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} |
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// Replace value in map
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// FIXME
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if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName); |
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parameters.value(component)->insert(parameterName, value); |
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QString splitToken = "_"; |
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// Check if auto-grouping can work
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if (parameterName.contains(splitToken)) |
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@ -267,16 +299,101 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
@@ -267,16 +299,101 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
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if (ok) |
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{ |
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qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value; |
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// Changed values list
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if (map->contains(str)) map->remove(str); |
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map->insert(str, value); |
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//current->setBackground(0, QBrush(QColor(QGC::colorGreen)));
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//current->setBackground(1, QBrush(QColor(QGC::colorGreen)));
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// Check if the value was numerically changed
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if (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, 0.0f) != value) |
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{ |
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current->setBackground(0, QBrush(QColor(QGC::colorGreen))); |
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current->setBackground(1, QBrush(QColor(QGC::colorGreen))); |
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} |
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// All parameters list
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if (parameters.value(key)->contains(str)) parameters.value(key)->remove(str); |
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parameters.value(key)->insert(str, value); |
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} |
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} |
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} |
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} |
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} |
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void QGCParamWidget::saveParameters() |
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{
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QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)")); |
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QFile file(fileName); |
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) |
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{ |
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return; |
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} |
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QTextStream in(&file); |
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in << "# Onboard parameters for system " << mav->getUASName() << "\n"; |
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in << "#\n"; |
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in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n"; |
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// Iterate through all components, through all parameters and emit them
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QMap<int, QMap<QString, float>*>::iterator i; |
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for (i = parameters.begin(); i != parameters.end(); ++i) |
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{ |
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// Iterate through the parameters of the component
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int compid = i.key(); |
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QMap<QString, float>* comp = i.value(); |
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{ |
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QMap<QString, float>::iterator j; |
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for (j = comp->begin(); j != comp->end(); ++j) |
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{ |
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in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << j.value() << "\n"; |
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in.flush(); |
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} |
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} |
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} |
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file.close(); |
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} |
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void QGCParamWidget::loadParameters() |
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{ |
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QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)")); |
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QFile file(fileName); |
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) |
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return; |
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// Clear list
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clear(); |
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QTextStream in(&file); |
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while (!in.atEnd()) |
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{ |
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QString line = in.readLine(); |
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if (!line.startsWith("#")) |
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{ |
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QStringList wpParams = line.split("\t"); |
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if (wpParams.size() == 4) |
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{ |
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// Only load parameters for right mav
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if (mav->getUASID() == wpParams.at(0).toInt()) |
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{ |
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addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble()); |
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if (changedValues.contains(wpParams.at(1).toInt())) |
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{ |
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if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(1))) |
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{ |
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changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(1)); |
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} |
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changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(1), (float)wpParams.at(2).toDouble()); |
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} |
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} |
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} |
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} |
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} |
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file.close(); |
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} |
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/**
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* @param component the subsystem which has the parameter |
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* @param parameterName name of the parameter, as delivered by the system |
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@ -319,7 +436,12 @@ void QGCParamWidget::setParameters()
@@ -319,7 +436,12 @@ void QGCParamWidget::setParameters()
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*/ |
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void QGCParamWidget::writeParameters() |
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{ |
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mav->writeParameters(); |
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mav->writeParametersToStorage(); |
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} |
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void QGCParamWidget::readParameters() |
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{ |
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mav->readParametersFromStorage(); |
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} |
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/**
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pixhawk
15 years ago