From 6e8f316a6a52111af7b5fd406d570d898d9baa7e Mon Sep 17 00:00:00 2001
From: lm <pixhawk@pixhawk02.(none)>
Date: Wed, 30 Jun 2010 17:01:29 +0200
Subject: [PATCH] load parameters work maybe

---
 src/uas/PxQuadMAV.cc     |  2 ++
 src/ui/QGCParamWidget.cc | 29 +++++++++++++++++++++++++----
 2 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index d1a0f3a..be412aa 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -134,6 +134,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit localizationChanged(this, status.position_fix);
                 emit visionLocalizationChanged(this, status.vision_fix);
                 emit gpsLocalizationChanged(this, status.gps_fix);
+
+                qDebug() << "ATT CONTROL IS" << status.control_att;
             }
             break;
     default:
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index aaf08d0..f1f2e72 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -375,15 +375,36 @@ void QGCParamWidget::loadParameters()
                 // Only load parameters for right mav
                 if (mav->getUASID() == wpParams.at(0).toInt())
                 {
+                    bool changed = false;
+                    int component = wpParams.at(1).toInt();
+                    QString parameterName = wpParams.at(2);
+                    if (!parameters.contains(component) || parameters.value(component)->value(parameterName, 0.0f) != (float)wpParams.at(3).toDouble())
+                    {
+                        changed = true;
+                    }
+
+                    // Set parameter value
                     addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble());
-                    if (changedValues.contains(wpParams.at(1).toInt()))
+
+                    if (changed)
                     {
-                        if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(1)))
+                        // Create changed values data structure if necessary
+                        if (!changedValues.contains(wpParams.at(1).toInt()))
                         {
-                            changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(1));
+                            changedValues.insert(wpParams.at(1).toInt(), new QMap<QString, float>());
                         }
 
-                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(1), (float)wpParams.at(2).toDouble());
+                        // Add to changed values
+                        if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(2)))
+                        {
+                            changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(2));
+                        }
+
+                        changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), (float)wpParams.at(3).toDouble());
+
+                        qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
+
+                        // Mark in UI
                     }
                 }
             }