Merge pull request #4675 from bluerobotics/param-version

Add firmware information to parameter file header

src/FactSystem/ParameterManager.cc

@@ -843,6 +843,17 @@ void ParameterManager::writeParametersToStream(QTextStream &stream)
 {
     stream << "# Onboard parameters for Vehicle " << _vehicle->id() << "\n";
     stream << "#\n";
+
+    stream << "# Stack: " << _vehicle->firmwareTypeString() << "\n";
+    stream << "# Vehicle: " << _vehicle->vehicleTypeString() << "\n";
+    stream << "# Version: "
+           << _vehicle->firmwareMajorVersion() << "."
+           << _vehicle->firmwareMinorVersion() << "."
+           << _vehicle->firmwarePatchVersion() << " "
+           << _vehicle->firmwareVersionTypeString() << "\n";
+    stream << "# Git Revision: " << _vehicle->gitHash() << "\n";
+
+    stream << "#\n";
     stream << "# Vehicle-Id Component-Id Name Value Type\n";
 
     foreach (int componentId, _mapParameterName2Variant.keys()) {

src/Vehicle/Vehicle.cc

@@ -679,7 +679,17 @@ void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& me
 
     // Git hash
     if (autopilotVersion.flight_custom_version[0] != 0) {
-        _gitHash = QString::fromUtf8((char*)autopilotVersion.flight_custom_version, 8);
+        // PX4 Firmware stores the first 16 characters of the git hash as binary, with the individual bytes in reverse order
+        if (px4Firmware()) {
+            _gitHash = "";
+            QByteArray array((char*)autopilotVersion.flight_custom_version, 8);
+            for (int i = 7; i >= 0; i--) {
+                _gitHash.append(QString("%1").arg(autopilotVersion.flight_custom_version[i], 2, 16, QChar('0')));
+            }
+        } else {
+            // APM Firmware stores the first 8 characters of the git hash as an ASCII character string
+            _gitHash = QString::fromUtf8((char*)autopilotVersion.flight_custom_version, 8);
+        }
         emit gitHashChanged(_gitHash);
     }
 }