From 980ec0542cec55ddab4a6a3398eb33f29dab9eb2 Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Wed, 28 Aug 2013 18:23:03 -0700
Subject: [PATCH 1/3] ensure data model knows the mav's ID

---
 src/uas/QGCUASParamManager.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/uas/QGCUASParamManager.cc b/src/uas/QGCUASParamManager.cc
index 90991f8..c4d81c7 100644
--- a/src/uas/QGCUASParamManager.cc
+++ b/src/uas/QGCUASParamManager.cc
@@ -24,6 +24,7 @@ QGCUASParamManager* QGCUASParamManager::initWithUAS(UASInterface* uas)
     // Load default values and tooltips for data model
     loadParamMetaInfoCSV();
 
+    paramDataModel.setUASID(mav->getUASID());
     paramCommsMgr = new UASParameterCommsMgr(this);
     paramCommsMgr->initWithUAS(uas);
 

From 30be74b224f69df508ae5dca6bc36bae127303de Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Wed, 28 Aug 2013 18:23:25 -0700
Subject: [PATCH 2/3] ensure that delta files with new params are loaded

---
 src/uas/UASParameterDataModel.cc | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/uas/UASParameterDataModel.cc b/src/uas/UASParameterDataModel.cc
index 0a16a3a..80b7f70 100644
--- a/src/uas/UASParameterDataModel.cc
+++ b/src/uas/UASParameterDataModel.cc
@@ -264,13 +264,13 @@ void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
             if (wpParams.size() == 5) {
                 // Only load parameters for right mav
                 if (!userWarned && (uasId != lineMavId)) {
-                    //TODO warn the user somehow ??
+                    //TODO warn the user somehow ?? Appears these are saved currently with mav ID 0 but mav ID is often nonzero?
                     QString msg = tr("The parameters in the stream have been saved from system %1, but the currently selected system has the ID %2.").arg(lineMavId).arg(uasId);
-//                    MainWindow::instance()->showCriticalMessage(
-//                                tr("Parameter loading warning"),
-//                                tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
+                    qWarning() << msg ;
+                    //MainWindow::instance()->showCriticalMessage(
+                    //            tr("Parameter loading warning"),
+                    //            tr("The parameters from the file %1 have been saved from system %2, but the currently selected system has the ID %3. If this is unintentional, please click on <READ> to revert to the parameters that are currently onboard").arg(fileName).arg(wpParams.at(0).toInt()).arg(mav->getUASID()));
                     userWarned = true;
-                    return;
                 }
 
                 bool changed = false;
@@ -286,8 +286,9 @@ void UASParameterDataModel::readUpdateParamsFromStream( QTextStream& stream)
                     changed = true;
                 }
                 else {
-                    if (fabs((static_cast<float>(onboardParameters.value(componentId)->value(key, dblVal).toDouble())) - (dblVal)) >
-                            2.0f * FLT_EPSILON) {
+                    QMap<QString,QVariant>* compParams = onboardParameters.value(componentId);
+                    if (!compParams->contains(key) ||
+                        (fabs((static_cast<float>(compParams->value(key).toDouble())) - (dblVal)) > 2.0f * FLT_EPSILON)) {
                             changed = true;
                             qDebug() << "Changed" << key << "VAL" << dblVal;
                        }

From 6623bd765120292f0e15f097f23326a0bc93bde1 Mon Sep 17 00:00:00 2001
From: tstellanova <tstellanova+github@gmail.com>
Date: Wed, 28 Aug 2013 18:23:56 -0700
Subject: [PATCH 3/3] stop timer when maxSilenceTimeout is exceeded to avoid
 infinite loop

---
 src/uas/UASParameterCommsMgr.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/uas/UASParameterCommsMgr.cc b/src/uas/UASParameterCommsMgr.cc
index d33eed7..126a691 100644
--- a/src/uas/UASParameterCommsMgr.cc
+++ b/src/uas/UASParameterCommsMgr.cc
@@ -253,6 +253,8 @@ void UASParameterCommsMgr::silenceTimerExpired()
         qDebug() << "maxSilenceTimeout exceeded: " << totalElapsed;
         int missingReads, missingWrites;
         clearRetransmissionLists(missingReads,missingWrites);
+        silenceTimer.stop();
+        lastSilenceTimerReset = curTime;
         setParameterStatusMsg(tr("TIMEOUT: Abandoning %1 reads %2 writes after %3 seconds").arg(missingReads).arg(missingWrites).arg(totalElapsed/1000));
     }
     else {