zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

remove duplicate code

QGC4.4
treymarc 11 years ago
parent
b34dd86e92
commit
80f4f133a0
1 changed files with 63 additions and 112 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 175
      src/uas/UAS.cc

175
src/uas/UAS.cc
Unescape View File

@ -2551,125 +2551,76 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>()); parameters.insert(compId, new QMap<QString, QVariant>());
} }
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param; QVariant param;
// Insert with correct type // Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling. // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type) switch (rawValue.param_type) {
{ case MAV_PARAM_TYPE_REAL32:
case MAV_PARAM_TYPE_REAL32: if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
{ param = QVariant(paramValue.param_float);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { } else {
param = QVariant(paramValue.param_float); param = QVariant(paramValue.param_float);
} }
else { break;
param = QVariant(paramValue.param_float); case MAV_PARAM_TYPE_UINT8:
} if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
parameters.value(compId)->insert(paramName, param); param = QVariant(QChar((unsigned char)paramValue.param_float));
// Emit change } else {
emit parameterChanged(uasId, compId, paramName, param); param = QVariant(QChar((quint8)paramValue.param_float));
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param); }
// qDebug() << "RECEIVED PARAM:" << param; break;
} case MAV_PARAM_TYPE_INT8:
break; if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
case MAV_PARAM_TYPE_UINT8: param = QVariant(QChar((char)paramValue.param_float));
{ } else {
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { param = QVariant(QChar((qint8)paramValue.param_float));
param = QVariant(QChar((unsigned char)paramValue.param_float)); }
} break;
else { case MAV_PARAM_TYPE_INT16:
param = QVariant(QChar((quint8)paramValue.param_float)); if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
} param = QVariant((short)paramValue.param_float);
parameters.value(compId)->insert(paramName, param); } else {
// Emit change param = QVariant((qint16)paramValue.param_float);
emit parameterChanged(uasId, compId, paramName, param); }
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param); break;
//qDebug() << "RECEIVED PARAM:" << param; case MAV_PARAM_TYPE_UINT16:
} if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
break; param = QVariant((unsigned short)paramValue.param_float);
case MAV_PARAM_TYPE_INT8: } else {
{ param = QVariant((quint16)paramValue.param_float);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { }
param = QVariant(QChar((char)paramValue.param_float)); break;
} case MAV_PARAM_TYPE_UINT32:
else { if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((qint8)paramValue.param_float)); param = QVariant((unsigned int)paramValue.param_float);
} } else {
parameters.value(compId)->insert(paramName, param); param = QVariant((quint32)paramValue.param_float);
// Emit change }
emit parameterChanged(uasId, compId, paramName, param); break;
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param); case MAV_PARAM_TYPE_INT32:
//qDebug() << "RECEIVED PARAM:" << param; if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
} param = QVariant((int)paramValue.param_float);
break; } else {
case MAV_PARAM_TYPE_INT16: param = QVariant((qint32)paramValue.param_float);
{ }
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { break;
param = QVariant((short)paramValue.param_float); default:
} qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
else { return;
param = QVariant((qint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
}
else {
param = QVariant((quint16)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant((quint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant((qint32)paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
} //switch (value.param_type) } //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
} }
/** /**

Write Preview
Loading…
Cancel
Save