Merge pull request #2283 from DonLakeFlyer/RawCooked

Explicit raw/cooked values for Facts

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -59,7 +59,7 @@ bool APMAirframeComponent::setupComplete(void) const
 {
     // You'll need to figure out which parameters trigger setup complete
 #if 0
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 #else
     return true;
 #endif

src/AutoPilotPlugins/PX4/AirframeComponent.cc

@@ -142,7 +142,7 @@ bool AirframeComponent::requiresSetup(void) const
 
 bool AirframeComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt() != 0;
 }
 
 QString AirframeComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -57,8 +57,7 @@ AirframeComponentController::AirframeComponentController(void) :
     // Load up member variables
     
     bool autostartFound = false;
-    _autostartId = getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->value().toInt();
-
+    _autostartId = getParameterFact(FactSystem::defaultComponentId, "SYS_AUTOSTART")->rawValue().toInt();
 
     
     for (int tindex = 0; tindex < AirframeComponentAirframes::get().count(); tindex++) {
@@ -114,8 +113,8 @@ void AirframeComponentController::changeAutostart(void)
     connect(sysAutoConfigFact, &Fact::vehicleUpdated, this, &AirframeComponentController::_waitParamWriteSignal);
     
     // We use forceSetValue to params are sent even if the previous value is that same as the new value
-    sysAutoStartFact->forceSetValue(_autostartId);
-    sysAutoConfigFact->forceSetValue(1);
+    sysAutoStartFact->forceSetRawValue(_autostartId);
+    sysAutoConfigFact->forceSetRawValue(1);
 }
 
 void AirframeComponentController::_waitParamWriteSignal(QVariant value)

src/AutoPilotPlugins/PX4/FlightModesComponent.cc

@@ -68,13 +68,13 @@ QString FlightModesComponent::iconResource(void) const
 
 bool FlightModesComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool FlightModesComponent::setupComplete(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ||
-            _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->value().toInt() != 0;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ||
+            _autopilot->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_MODE_SW")->rawValue().toInt() != 0;
 }
 
 QString FlightModesComponent::setupStateDescription(void) const
@@ -117,7 +117,7 @@ QUrl FlightModesComponent::summaryQmlSource(void) const
 
 QString FlightModesComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1) {
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1) {
         // No RC input
         return QString();
     } else {

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -78,10 +78,10 @@ void FlightModesComponentController::_init(void)
         
         QVariant value;
         
-        _rgRCMin[channel] = getParameterFact(FactSystem::defaultComponentId, rcMinParam)->value().toInt();
-        _rgRCMax[channel] = getParameterFact(FactSystem::defaultComponentId, rcMaxParam)->value().toInt();
+        _rgRCMin[channel] = getParameterFact(FactSystem::defaultComponentId, rcMinParam)->rawValue().toInt();
+        _rgRCMax[channel] = getParameterFact(FactSystem::defaultComponentId, rcMaxParam)->rawValue().toInt();
         
-        float floatReversed = getParameterFact(-1, rcRevParam)->value().toFloat();
+        float floatReversed = getParameterFact(-1, rcRevParam)->rawValue().toFloat();
         _rgRCReversed[channel] = floatReversed == -1.0f;
         
         _rcValues[channel] = 0.0;
@@ -89,7 +89,7 @@ void FlightModesComponentController::_init(void)
 
     // RC_CHAN_CNT parameter is set by Radio Cal to specify the number of radio channels.
     if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
-        _channelCount = getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->value().toInt();
+        _channelCount = getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->rawValue().toInt();
     } else {
         _channelCount =_chanMax;
     }
@@ -98,9 +98,9 @@ void FlightModesComponentController::_init(void)
         _channelCount = _chanMax;
     }
     
-    int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
-    int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
-    int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
+    int modeChannel = getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
+    int posCtlChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
+    int loiterChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
     
     if (posCtlChannel == 0) {
         // PosCtl disabled so AltCtl must move back to main Mode switch
@@ -125,7 +125,7 @@ void FlightModesComponentController::_init(void)
     
     attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
     foreach(QString attitudeParam, attitudeParams) {
-        int channel = getParameterFact(-1, attitudeParam)->value().toInt();
+        int channel = getParameterFact(-1, attitudeParam)->rawValue().toInt();
         if (channel != 0) {
             usedChannels << channel;
         }
@@ -168,7 +168,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     switchParams << "RC_MAP_MODE_SW"  << "RC_MAP_ACRO_SW"  << "RC_MAP_POSCTL_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
     
     for(int i=0; i<switchParams.count(); i++) {
-        int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->value().toInt();
+        int map = getParameterFact(FactSystem::defaultComponentId, switchParams[i])->rawValue().toInt();
         switchMappings << map;
         
         if (map < 0 || map > _channelCount) {
@@ -184,7 +184,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
 
     for (int i=0; i<attitudeParams.count(); i++) {
-        int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->value().toInt();
+        int map = getParameterFact(FactSystem::defaultComponentId, attitudeParams[i])->rawValue().toInt();
 
         for (int j=0; j<switchParams.count(); j++) {
             if (map != 0 && map == switchMappings[j]) {
@@ -201,7 +201,7 @@ void FlightModesComponentController::_validateConfiguration(void)
     thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
     
     foreach(QString thresholdParam, thresholdParams) {
-        float threshold = getParameterFact(-1, thresholdParam)->value().toFloat();
+        float threshold = getParameterFact(-1, thresholdParam)->rawValue().toFloat();
         if (threshold < 0.0f || threshold > 1.0f) {
             _validConfiguration = false;
             _configurationErrors += QString("%1 is set to %2. Threshold must between 0.0 and 1.0 (inclusive).\n").arg(thresholdParam).arg(threshold);
@@ -239,7 +239,7 @@ double FlightModesComponentController::_switchLiveRange(const QString& param)
 {
     QVariant value;
     
-    int channel = getParameterFact(-1, param)->value().toInt();
+    int channel = getParameterFact(-1, param)->rawValue().toInt();
     if (channel == 0) {
         return 0.0;
     } else {
@@ -269,7 +269,7 @@ double FlightModesComponentController::acroModeRcValue(void)
 
 double FlightModesComponentController::altCtlModeRcValue(void)
 {
-    int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
+    int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
     
     if (posCtlSwitchChannel == 0) {
         return _switchLiveRange("RC_MAP_MODE_SW");
@@ -285,8 +285,8 @@ double FlightModesComponentController::posCtlModeRcValue(void)
 
 double FlightModesComponentController::missionModeRcValue(void)
 {
-    int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
-    int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
+    int returnSwitchChannel = getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
+    int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
 
     const char* switchChannelParam = "RC_MAP_MODE_SW";
     
@@ -334,20 +334,20 @@ void FlightModesComponentController::_recalcModeSelections(void)
     _offboardModeSelected = false;
     
     // Convert channels to 0-based, -1 signals not mapped
-    int modeSwitchChannel =     getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt() - 1;
-    int acroSwitchChannel =     getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt() - 1;
-    int posCtlSwitchChannel =   getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt() - 1;
-    int loiterSwitchChannel =   getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt() - 1;
-    int returnSwitchChannel =   getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt() - 1;
-    int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt() - 1;
-    
-    double autoThreshold =      getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
-    double assistThreshold =    getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
-    double acroThreshold =      getParameterFact(-1, "RC_ACRO_TH")->value().toDouble();
-    double posCtlThreshold =    getParameterFact(-1, "RC_POSCTL_TH")->value().toDouble();
-    double loiterThreshold =    getParameterFact(-1, "RC_LOITER_TH")->value().toDouble();
-    double returnThreshold =    getParameterFact(-1, "RC_RETURN_TH")->value().toDouble();
-    double offboardThreshold =  getParameterFact(-1, "RC_OFFB_TH")->value().toDouble();
+    int modeSwitchChannel =     getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt() - 1;
+    int acroSwitchChannel =     getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt() - 1;
+    int posCtlSwitchChannel =   getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt() - 1;
+    int loiterSwitchChannel =   getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt() - 1;
+    int returnSwitchChannel =   getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt() - 1;
+    int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt() - 1;
+    
+    double autoThreshold =      getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
+    double assistThreshold =    getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
+    double acroThreshold =      getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
+    double posCtlThreshold =    getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
+    double loiterThreshold =    getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
+    double returnThreshold =    getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
+    double offboardThreshold =  getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
     
     if (modeSwitchChannel >= 0) {
         if (offboardSwitchChannel >= 0 && _rcValues[offboardSwitchChannel] >= offboardThreshold) {
@@ -382,12 +382,12 @@ void FlightModesComponentController::_recalcModeSelections(void)
 
 void FlightModesComponentController::_recalcModeRows(void)
 {
-    int modeSwitchChannel =     getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
-    int acroSwitchChannel =     getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt();
-    int posCtlSwitchChannel =   getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
-    int loiterSwitchChannel =   getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
-    int returnSwitchChannel =   getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
-    int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt();
+    int modeSwitchChannel =     getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
+    int acroSwitchChannel =     getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
+    int posCtlSwitchChannel =   getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
+    int loiterSwitchChannel =   getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
+    int returnSwitchChannel =   getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
+    int offboardSwitchChannel = getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt();
     
     if (modeSwitchChannel == 0) {
         _acroModeRow =      0;
@@ -477,65 +477,65 @@ double FlightModesComponentController::manualModeThreshold(void)
 
 double FlightModesComponentController::assistModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::autoModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::acroModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_ACRO_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_ACRO_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::altCtlModeThreshold(void)
 {
-    return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->value().toDouble();
+    return _assistModeVisible ? 0.0 : getParameterFact(-1, "RC_ASSIST_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::posCtlModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_POSCTL_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_POSCTL_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::missionModeThreshold(void)
 {
-    return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->value().toDouble();
+    return _autoModeVisible ? 0.0 : getParameterFact(-1, "RC_AUTO_TH")->rawValue().toDouble();
 }
 
 
 double FlightModesComponentController::loiterModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_LOITER_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_LOITER_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::returnModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_RETURN_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_RETURN_TH")->rawValue().toDouble();
 }
 
 double FlightModesComponentController::offboardModeThreshold(void)
 {
-    return getParameterFact(-1, "RC_OFFB_TH")->value().toDouble();
+    return getParameterFact(-1, "RC_OFFB_TH")->rawValue().toDouble();
 }
 
 void FlightModesComponentController::setAssistModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_ASSIST_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
 void FlightModesComponentController::setAutoModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_AUTO_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_AUTO_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
 void FlightModesComponentController::setAcroModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_ACRO_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_ACRO_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
@@ -546,7 +546,7 @@ void FlightModesComponentController::setAltCtlModeThreshold(double threshold)
 
 void FlightModesComponentController::setPosCtlModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_POSCTL_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
@@ -557,19 +557,19 @@ void FlightModesComponentController::setMissionModeThreshold(double threshold)
 
 void FlightModesComponentController::setLoiterModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_LOITER_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_LOITER_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
 void FlightModesComponentController::setReturnModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_RETURN_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_RETURN_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
 void FlightModesComponentController::setOffboardModeThreshold(double threshold)
 {
-    getParameterFact(-1, "RC_OFFB_TH")->setValue(threshold);
+    getParameterFact(-1, "RC_OFFB_TH")->setRawValue(threshold);
     _recalcModeSelections();
 }
 
@@ -580,7 +580,7 @@ int FlightModesComponentController::_channelToChannelIndex(int channel)
 
 int FlightModesComponentController::_channelToChannelIndex(const QString& channelParam)
 {
-    return _channelToChannelIndex(getParameterFact(-1, channelParam)->value().toInt());
+    return _channelToChannelIndex(getParameterFact(-1, channelParam)->rawValue().toInt());
 }
 
 int FlightModesComponentController::manualModeChannelIndex(void)
@@ -605,7 +605,7 @@ int FlightModesComponentController::acroModeChannelIndex(void)
 
 int FlightModesComponentController::altCtlModeChannelIndex(void)
 {
-    int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
+    int posCtlSwitchChannel = getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
     
     if (posCtlSwitchChannel == 0) {
         return _channelToChannelIndex("RC_MAP_MODE_SW");
@@ -626,7 +626,7 @@ int FlightModesComponentController::loiterModeChannelIndex(void)
 
 int FlightModesComponentController::missionModeChannelIndex(void)
 {
-    int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
+    int loiterSwitchChannel = getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
     
     if (loiterSwitchChannel == 0) {
         return _channelToChannelIndex("RC_MAP_MODE_SW");
@@ -652,7 +652,7 @@ int FlightModesComponentController::_channelIndexToChannel(int index)
 
 void FlightModesComponentController::setManualModeChannelIndex(int index)
 {
-    getParameterFact(-1, "RC_MAP_MODE_SW")->setValue(_channelIndexToChannel(index));
+    getParameterFact(-1, "RC_MAP_MODE_SW")->setRawValue(_channelIndexToChannel(index));
     
     _recalcModeSelections();
     _recalcModeRows();
@@ -662,7 +662,7 @@ void FlightModesComponentController::setManualModeChannelIndex(int index)
 
 void FlightModesComponentController::setAcroModeChannelIndex(int index)
 {
-    getParameterFact(-1, "RC_MAP_ACRO_SW")->setValue(_channelIndexToChannel(index));
+    getParameterFact(-1, "RC_MAP_ACRO_SW")->setRawValue(_channelIndexToChannel(index));
     
     _recalcModeSelections();
     _recalcModeRows();
@@ -672,14 +672,14 @@ void FlightModesComponentController::setPosCtlModeChannelIndex(int index)
 {
     int channel = _channelIndexToChannel(index);
     
-    getParameterFact(-1, "RC_MAP_POSCTL_SW")->setValue(channel);
+    getParameterFact(-1, "RC_MAP_POSCTL_SW")->setRawValue(channel);
     
     if (channel == 0) {
         // PosCtl disabled so AltCtl must move back to main Mode switch
         _assistModeVisible = false;
     } else {
         // Assist mode is visible if AltCtl/PosCtl are on seperate channel from main Mode switch
-        _assistModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
+        _assistModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
     }
     
     emit modesVisibleChanged();
@@ -694,14 +694,14 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
 {
     int channel = _channelIndexToChannel(index);
     
-    getParameterFact(-1, "RC_MAP_LOITER_SW")->setValue(channel);
+    getParameterFact(-1, "RC_MAP_LOITER_SW")->setRawValue(channel);
     
     if (channel == 0) {
         // Loiter disabled so Mission must move back to main Mode switch
         _autoModeVisible = false;
     } else {
         // Auto mode is visible if Mission/Loiter are on seperate channel from main Mode switch
-        _autoModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
+        _autoModeVisible = channel != getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
     }
     
     emit modesVisibleChanged();
@@ -714,7 +714,7 @@ void FlightModesComponentController::setLoiterModeChannelIndex(int index)
 
 void FlightModesComponentController::setReturnModeChannelIndex(int index)
 {
-    getParameterFact(-1, "RC_MAP_RETURN_SW")->setValue(_channelIndexToChannel(index));
+    getParameterFact(-1, "RC_MAP_RETURN_SW")->setRawValue(_channelIndexToChannel(index));
     _recalcModeSelections();
     _recalcModeRows();
     emit channelIndicesChanged();
@@ -723,7 +723,7 @@ void FlightModesComponentController::setReturnModeChannelIndex(int index)
 
 void FlightModesComponentController::setOffboardModeChannelIndex(int index)
 {
-    getParameterFact(-1, "RC_MAP_OFFB_SW")->setValue(_channelIndexToChannel(index));
+    getParameterFact(-1, "RC_MAP_OFFB_SW")->setRawValue(_channelIndexToChannel(index));
     _recalcModeSelections();
     _recalcModeRows();
     emit channelIndicesChanged();
@@ -739,17 +739,17 @@ void FlightModesComponentController::generateThresholds(void)
     thresholdParams << "RC_ASSIST_TH" << "RC_AUTO_TH" << "RC_ACRO_TH" << "RC_POSCTL_TH" << "RC_LOITER_TH" << "RC_RETURN_TH" << "RC_OFFB_TH";
     
     foreach(QString thresholdParam, thresholdParams) {
-        getParameterFact(-1, thresholdParam)->setValue(0.0f);
+        getParameterFact(-1, thresholdParam)->setRawValue(0.0f);
     }
     
     // Redistribute
     
-    int modeChannel =       getParameterFact(-1, "RC_MAP_MODE_SW")->value().toInt();
-    int acroChannel =       getParameterFact(-1, "RC_MAP_ACRO_SW")->value().toInt();
-    int posCtlChannel =     getParameterFact(-1, "RC_MAP_POSCTL_SW")->value().toInt();
-    int loiterChannel =     getParameterFact(-1, "RC_MAP_LOITER_SW")->value().toInt();
-    int returnChannel =     getParameterFact(-1, "RC_MAP_RETURN_SW")->value().toInt();
-    int offboardChannel =   getParameterFact(-1, "RC_MAP_OFFB_SW")->value().toInt();
+    int modeChannel =       getParameterFact(-1, "RC_MAP_MODE_SW")->rawValue().toInt();
+    int acroChannel =       getParameterFact(-1, "RC_MAP_ACRO_SW")->rawValue().toInt();
+    int posCtlChannel =     getParameterFact(-1, "RC_MAP_POSCTL_SW")->rawValue().toInt();
+    int loiterChannel =     getParameterFact(-1, "RC_MAP_LOITER_SW")->rawValue().toInt();
+    int returnChannel =     getParameterFact(-1, "RC_MAP_RETURN_SW")->rawValue().toInt();
+    int offboardChannel =   getParameterFact(-1, "RC_MAP_OFFB_SW")->rawValue().toInt();
     
     if (modeChannel != 0) {
         int positions = 3;  // Manual/Assist/Auto always exist
@@ -771,35 +771,35 @@ void FlightModesComponentController::generateThresholds(void)
         
         if (acroOnModeSwitch) {
             currentThreshold += increment;
-            getParameterFact(-1, "RC_ACRO_TH")->setValue(currentThreshold);
+            getParameterFact(-1, "RC_ACRO_TH")->setRawValue(currentThreshold);
             acroChannel = 0;
         }
         
         currentThreshold += increment;
-        getParameterFact(-1, "RC_ASSIST_TH")->setValue(currentThreshold);
+        getParameterFact(-1, "RC_ASSIST_TH")->setRawValue(currentThreshold);
         if (posCtlOnModeSwitch) {
             currentThreshold += increment;
-            getParameterFact(-1, "RC_POSCTL_TH")->setValue(currentThreshold);
+            getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(currentThreshold);
             posCtlChannel = 0;
         }
         
         currentThreshold += increment;
-        getParameterFact(-1, "RC_AUTO_TH")->setValue(currentThreshold);
+        getParameterFact(-1, "RC_AUTO_TH")->setRawValue(currentThreshold);
         if (loiterOnModeSwitch) {
             currentThreshold += increment;
-            getParameterFact(-1, "RC_LOITER_TH")->setValue(currentThreshold);
+            getParameterFact(-1, "RC_LOITER_TH")->setRawValue(currentThreshold);
             loiterChannel = 0;
         }
         
         if (returnOnModeSwitch) {
             currentThreshold += increment;
-            getParameterFact(-1, "RC_RETURN_TH")->setValue(currentThreshold);
+            getParameterFact(-1, "RC_RETURN_TH")->setRawValue(currentThreshold);
             returnChannel = 0;
         }
         
         if (offboardOnModeSwitch) {
             currentThreshold += increment;
-            getParameterFact(-1, "RC_OFFB_TH")->setValue(currentThreshold);
+            getParameterFact(-1, "RC_OFFB_TH")->setRawValue(currentThreshold);
             offboardChannel = 0;
         }
     }
@@ -807,23 +807,23 @@ void FlightModesComponentController::generateThresholds(void)
     if (acroChannel != 0) {
         // If only two positions don't set threshold at midrange. Setting to 0.25
         // allows for this channel to work with either a two or three position switch
-        getParameterFact(-1, "RC_ACRO_TH")->setValue(0.25f);
+        getParameterFact(-1, "RC_ACRO_TH")->setRawValue(0.25f);
     }
     
     if (posCtlChannel != 0) {
-        getParameterFact(-1, "RC_POSCTL_TH")->setValue(0.25f);
+        getParameterFact(-1, "RC_POSCTL_TH")->setRawValue(0.25f);
     }
     
     if (loiterChannel != 0) {
-        getParameterFact(-1, "RC_LOITER_TH")->setValue(0.25f);
+        getParameterFact(-1, "RC_LOITER_TH")->setRawValue(0.25f);
     }
     
     if (returnChannel != 0) {
-        getParameterFact(-1, "RC_RETURN_TH")->setValue(0.25f);
+        getParameterFact(-1, "RC_RETURN_TH")->setRawValue(0.25f);
     }
     
     if (offboardChannel != 0) {
-        getParameterFact(-1, "RC_OFFB_TH")->setValue(0.25f);
+        getParameterFact(-1, "RC_OFFB_TH")->setRawValue(0.25f);
     }
     
     emit thresholdsChanged();

src/AutoPilotPlugins/PX4/PowerComponent.cc

@@ -57,9 +57,9 @@ bool PowerComponent::requiresSetup(void) const
 bool PowerComponent::setupComplete(void) const
 {
     QVariant cvalue, evalue, nvalue;
-    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->value().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->value().toFloat() != 0.0f &&
-        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->value().toInt() != 0;
+    return _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_CHARGED")->rawValue().toFloat() != 0.0f &&
+        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_V_EMPTY")->rawValue().toFloat() != 0.0f &&
+        _autopilot->getParameterFact(FactSystem::defaultComponentId, "BAT_N_CELLS")->rawValue().toInt() != 0;
 }
 
 QString PowerComponent::setupStateDescription(void) const

src/AutoPilotPlugins/PX4/RadioComponent.cc

@@ -53,18 +53,18 @@ QString RadioComponent::iconResource(void) const
 
 bool RadioComponent::requiresSetup(void) const
 {
-    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() == 1 ? false : true;
+    return _autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() == 1 ? false : true;
 }
 
 bool RadioComponent::setupComplete(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         // The best we can do to detect the need for a radio calibration is look for attitude
         // controls to be mapped.
         QStringList attitudeMappings;
         attitudeMappings << "RC_MAP_ROLL" << "RC_MAP_PITCH" << "RC_MAP_YAW" << "RC_MAP_THROTTLE";
         foreach(QString mapParam, attitudeMappings) {
-            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->value().toInt() == 0) {
+            if (_autopilot->getParameterFact(FactSystem::defaultComponentId, mapParam)->rawValue().toInt() == 0) {
                 return false;
             }
         }
@@ -115,7 +115,7 @@ QUrl RadioComponent::summaryQmlSource(void) const
 
 QString RadioComponent::prerequisiteSetup(void) const
 {
-    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->value().toInt() != 1) {
+    if (_autopilot->getParameterFact(-1, "COM_RC_IN_MODE")->rawValue().toInt() != 1) {
         PX4AutoPilotPlugin* plugin = dynamic_cast<PX4AutoPilotPlugin*>(_autopilot);
         Q_ASSERT(plugin);
         

src/AutoPilotPlugins/PX4/RadioComponentController.cc

@@ -652,7 +652,7 @@ void RadioComponentController::_resetInternalCalibrationValues(void)
         enum rcCalFunctions curFunction = rgFlightModeFunctions[i];
         
         bool ok;
-        int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->value().toInt(&ok);
+        int switchChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[curFunction].parameterName)->rawValue().toInt(&ok);
         Q_ASSERT(ok);
         
         // Parameter: 1-based channel, 0=not mapped
@@ -694,16 +694,16 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
     for (int i = 0; i < _chanMax; ++i) {
         struct ChannelInfo* info = &_rgChannelInfo[i];
         
-        info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->value().toInt(&convertOk);
+        info->rcTrim = getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(i+1))->rawValue().toInt(&convertOk);
         Q_ASSERT(convertOk);
         
-        info->rcMin = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->value().toInt(&convertOk);
+        info->rcMin = getParameterFact(FactSystem::defaultComponentId, minTpl.arg(i+1))->rawValue().toInt(&convertOk);
         Q_ASSERT(convertOk);
 
-        info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->value().toInt(&convertOk);
+        info->rcMax = getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(i+1))->rawValue().toInt(&convertOk);
         Q_ASSERT(convertOk);
 
-        float floatReversed = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->value().toFloat(&convertOk);
+        float floatReversed = getParameterFact(FactSystem::defaultComponentId, revTpl.arg(i+1))->rawValue().toFloat(&convertOk);
         Q_ASSERT(convertOk);
         Q_ASSERT(floatReversed == 1.0f || floatReversed == -1.0f);
         info->reversed = floatReversed == -1.0f;
@@ -712,7 +712,7 @@ void RadioComponentController::_setInternalCalibrationValuesFromParameters(void)
     for (int i=0; i<rcCalFunctionMax; i++) {
         int32_t paramChannel;
         
-        paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->value().toInt(&convertOk);
+        paramChannel = getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->rawValue().toInt(&convertOk);
         Q_ASSERT(convertOk);
         
         if (paramChannel != 0) {
@@ -794,10 +794,10 @@ void RadioComponentController::_writeCalibration(void)
         struct ChannelInfo* info = &_rgChannelInfo[chan];
         int                 oneBasedChannel = chan + 1;
         
-        getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setValue((float)info->rcTrim);
-        getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setValue((float)info->rcMin);
-        getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setValue((float)info->rcMax);
-        getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setValue(info->reversed ? -1.0f : 1.0f);
+        getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->setRawValue((float)info->rcTrim);
+        getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->setRawValue((float)info->rcMin);
+        getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->setRawValue((float)info->rcMax);
+        getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->setRawValue(info->reversed ? -1.0f : 1.0f);
     }
     
     // Write function mapping parameters
@@ -810,12 +810,12 @@ void RadioComponentController::_writeCalibration(void)
             // Note that the channel value is 1-based
             paramChannel = _rgFunctionChannelMapping[i] + 1;
         }
-        getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setValue(paramChannel);
+        getParameterFact(FactSystem::defaultComponentId, _rgFunctionInfo[i].parameterName)->setRawValue(paramChannel);
     }
     
     // If the RC_CHAN_COUNT parameter is available write the channel count
     if (parameterExists(FactSystem::defaultComponentId, "RC_CHAN_CNT")) {
-        getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setValue(_chanCount);
+        getParameterFact(FactSystem::defaultComponentId, "RC_CHAN_CNT")->setRawValue(_chanCount);
     }
     
     _stopCalibration();

src/AutoPilotPlugins/PX4/SensorsComponent.cc

@@ -62,7 +62,7 @@ bool SensorsComponent::requiresSetup(void) const
 bool SensorsComponent::setupComplete(void) const
 {
     foreach(QString triggerParam, setupCompleteChangedTriggerList()) {
-        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->value().toFloat() == 0.0f) {
+        if (_autopilot->getParameterFact(FactSystem::defaultComponentId, triggerParam)->rawValue().toFloat() == 0.0f) {
             return false;
         }
     }

src/FactSystem/Fact.cc

@@ -73,16 +73,16 @@ const Fact& Fact::operator=(const Fact& other)
     return *this;
 }
 
-void Fact::forceSetValue(const QVariant& value)
+void Fact::forceSetRawValue(const QVariant& value)
 {
     if (_metaData) {
         QVariant    typedValue;
         QString     errorString;
         
         if (_metaData->convertAndValidate(value, true /* convertOnly */, typedValue, errorString)) {
-            _rawValue.setValue(_metaData->cookedTranslator()(typedValue));
-            emit valueChanged(typedValue);
-            emit _containerValueChanged(typedValue);
+            _rawValue.setValue(typedValue);
+            emit valueChanged(cookedValue());
+            emit _containerRawValueChanged(rawValue());
         }
     } else {
         qWarning() << "Meta data pointer missing";
@@ -98,8 +98,8 @@ void Fact::setRawValue(const QVariant& value)
         if (_metaData->convertAndValidate(value, true /* convertOnly */, typedValue, errorString)) {
             if (typedValue != _rawValue) {
                 _rawValue.setValue(typedValue);
-                emit valueChanged(this->value());
-                emit _containerValueChanged(this->value());
+                emit valueChanged(cookedValue());
+                emit _containerRawValueChanged(rawValue());
             }
         }
     } else {
@@ -107,7 +107,7 @@ void Fact::setRawValue(const QVariant& value)
     }
 }
 
-void Fact::setValue(const QVariant& value)
+void Fact::setCookedValue(const QVariant& value)
 {
     if (_metaData) {
         setRawValue(_metaData->cookedTranslator()(value));
@@ -121,7 +121,7 @@ void Fact::setEnumStringValue(const QString& value)
     if (_metaData) {
         int index = _metaData->enumStrings().indexOf(value);
         if (index != -1) {
-            setValue(_metaData->enumValues()[index]);
+            setCookedValue(_metaData->enumValues()[index]);
         }
     } else {
         qWarning() << "Meta data pointer missing";
@@ -131,16 +131,16 @@ void Fact::setEnumStringValue(const QString& value)
 void Fact::setEnumIndex(int index)
 {
     if (_metaData) {
-        setValue(_metaData->enumValues()[index]);
+        setCookedValue(_metaData->enumValues()[index]);
     } else {
         qWarning() << "Meta data pointer missing";
     }
 }
 
-void Fact::_containerSetValue(const QVariant& value)
+void Fact::_containerSetRawValue(const QVariant& value)
 {
     _rawValue = value;
-    emit valueChanged(_rawValue);
+    emit valueChanged(cookedValue());
     emit vehicleUpdated(_rawValue);
 }
 
@@ -154,7 +154,7 @@ int Fact::componentId(void) const
     return _componentId;
 }
 
-QVariant Fact::value(void) const
+QVariant Fact::cookedValue(void) const
 {
     if (_metaData) {
         return _metaData->rawTranslator()(_rawValue);
@@ -183,7 +183,7 @@ int Fact::enumIndex(void) const
     if (_metaData) {
         int index = 0;
         foreach (QVariant enumValue, _metaData->enumValues()) {
-            if (enumValue == value()) {
+            if (enumValue == rawValue()) {
                 return index;
             }
             index ++;
@@ -236,7 +236,7 @@ QString Fact::_variantToString(const QVariant& variant) const
 
 QString Fact::valueString(void) const
 {
-    return _variantToString(value());
+    return _variantToString(cookedValue());
 }
 
 QVariant Fact::defaultValue(void) const
@@ -365,14 +365,14 @@ QString Fact::group(void) const
 void Fact::setMetaData(FactMetaData* metaData)
 {
     _metaData = metaData;
-    emit valueChanged(value());
+    emit valueChanged(cookedValue());
 }
 
 bool Fact::valueEqualsDefault(void) const
 {
     if (_metaData) {
         if (_metaData->defaultValueAvailable()) {
-            return _metaData->defaultValue() == value();
+            return _metaData->defaultValue() == rawValue();
         } else {
             return false;
         }

src/FactSystem/Fact.h

@@ -67,7 +67,7 @@ public:
     Q_PROPERTY(QString      shortDescription        READ shortDescription                                   CONSTANT)
     Q_PROPERTY(FactMetaData::ValueType_t type       READ type                                               CONSTANT)
     Q_PROPERTY(QString      units                   READ units                                              CONSTANT)
-    Q_PROPERTY(QVariant     value                   READ value                  WRITE setValue              NOTIFY valueChanged)
+    Q_PROPERTY(QVariant     value                   READ cookedValue            WRITE setCookedValue        NOTIFY valueChanged)
     Q_PROPERTY(bool         valueEqualsDefault      READ valueEqualsDefault                                 NOTIFY valueChanged)
     Q_PROPERTY(QVariant     valueString             READ valueString                                        NOTIFY valueChanged)
 
@@ -75,6 +75,7 @@ public:
     ///     @param convertOnly true: validate type conversion only, false: validate against meta data as well
     Q_INVOKABLE QString validate(const QString& value, bool convertOnly);
     
+    QVariant        cookedValue             (void) const;   /// Value after translation
     int             componentId             (void) const;
     int             decimalPlaces           (void) const;
     QVariant        defaultValue            (void) const;
@@ -97,24 +98,23 @@ public:
     QString         shortDescription        (void) const;
     FactMetaData::ValueType_t type          (void) const;
     QString         units                   (void) const;
-    QVariant        value                   (void) const;
     QString         valueString             (void) const;
     bool            valueEqualsDefault      (void) const;
 
     void setRawValue        (const QVariant& value);
-    void setValue           (const QVariant& value);
+    void setCookedValue     (const QVariant& value);
     void setEnumIndex       (int index);
     void setEnumStringValue (const QString& value);
 
     // C++ methods
 
     /// Sets and sends new value to vehicle even if value is the same
-    void forceSetValue(const QVariant& value);
+    void forceSetRawValue(const QVariant& value);
     
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData);
     
-    void _containerSetValue(const QVariant& value);
+    void _containerSetRawValue(const QVariant& value);
     
     /// Generally you should not change the name of a fact. But if you know what you are doing, you can.
     void _setName(const QString& name) { _name = name; }
@@ -131,7 +131,7 @@ signals:
     /// Signalled when property has been changed by a call to the property write accessor
     ///
     /// This signal is meant for use by Fact container implementations.
-    void _containerValueChanged(const QVariant& value);
+    void _containerRawValueChanged(const QVariant& value);
     
 private:
     QString _variantToString(const QVariant& variant) const;

src/FactSystem/FactSystemTestBase.cc

@@ -61,7 +61,7 @@ void FactSystemTestBase::_parameter_default_component_id_test(void)
     QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE"));
     Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, FactSystem::defaultComponentId, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
-    QVariant factValue = fact->value();
+    QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);
     
     QCOMPARE(factValue.toInt(), 3);
@@ -72,7 +72,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
     QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE"));
     Fact* fact = _plugin->getFact(FactSystem::ParameterProvider, 50, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
-    QVariant factValue = fact->value();
+    QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);
     
     
@@ -82,7 +82,7 @@ void FactSystemTestBase::_parameter_specific_component_id_test(void)
     QVERIFY(_plugin->factExists(FactSystem::ParameterProvider, 51, "COMPONENT_51"));
     fact = _plugin->getFact(FactSystem::ParameterProvider, 51, "COMPONENT_51");
     QVERIFY(fact != NULL);
-    factValue = fact->value();
+    factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);
     
     QCOMPARE(factValue.toInt(), 51);
@@ -119,7 +119,7 @@ void FactSystemTestBase::_qmlUpdate_test(void)
     // Change the value
     
     QVariant paramValue = 12;
-    _plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setValue(paramValue);
+    _plugin->getParameterFact(FactSystem::defaultComponentId, "RC_MAP_THROTTLE")->setRawValue(paramValue);
 
     QTest::qWait(500); // Let the signals flow through
     

src/FactSystem/ParameterLoader.cc

@@ -245,14 +245,14 @@ void ParameterLoader::_parameterUpdate(int uasId, int componentId, QString param
         _mapParameterName2Variant[componentId][parameterName] = QVariant::fromValue(fact);
 
         // We need to know when the fact changes from QML so that we can send the new value to the parameter manager
-        connect(fact, &Fact::_containerValueChanged, this, &ParameterLoader::_valueUpdated);
+        connect(fact, &Fact::_containerRawValueChanged, this, &ParameterLoader::_valueUpdated);
     }
 
     Q_ASSERT(_mapParameterName2Variant[componentId].contains(parameterName));
 
     Fact* fact = _mapParameterName2Variant[componentId][parameterName].value<Fact*>();
     Q_ASSERT(fact);
-    fact->_containerSetValue(value);
+    fact->_containerSetRawValue(value);
 
     if (setMetaData) {
         _vehicle->firmwarePlugin()->addMetaDataToFact(fact);
@@ -465,7 +465,7 @@ void ParameterLoader::_waitingParamTimeout(void)
             foreach(QString paramName, _waitingWriteParamNameMap[componentId].keys()) {
                 paramsRequested = true;
                 _waitingWriteParamNameMap[componentId][paramName]++;   // Bump retry count
-                _writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->value());
+                _writeParameterRaw(componentId, paramName, _autopilot->getFact(FactSystem::ParameterProvider, componentId, paramName)->rawValue());
                 qCDebug(ParameterLoaderLog) << "Write resend for (componentId:" << componentId << "paramName:" << paramName << "retryCount:" << _waitingWriteParamNameMap[componentId][paramName] << ")";
 
                 if (++batchCount > maxBatchSize) {
@@ -586,7 +586,7 @@ void ParameterLoader::_writeLocalParamCache()
         foreach(int id, _mapParameterId2Name[component].keys()) {
             const QString name(_mapParameterId2Name[component][id]);
             const Fact *fact = _mapParameterName2Variant[component][name].value<Fact*>();
-            cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->value()));
+            cache_map[component][id] = NamedParam(name, ParamTypeVal(fact->type(), fact->rawValue()));
         }
     }
 
@@ -700,7 +700,7 @@ QString ParameterLoader::readParametersFromStream(QTextStream& stream)
                 }
 
                 qCDebug(ParameterLoaderLog) << "Updating parameter" << componentId << paramName << valStr;
-                fact->setValue(valStr);
+                fact->setRawValue(valStr);
             }
         }
     }

src/MissionManager/MissionItem.cc

@@ -193,9 +193,9 @@ MissionItem::MissionItem(int             sequenceNumber,
     _param2Fact.setRawValue(param2);
     _param3Fact.setRawValue(param3);
     _param4Fact.setRawValue(param4);
-    _param5Fact.setValue(param5);
-    _param6Fact.setValue(param6);
-    _param7Fact.setValue(param7);
+    _param5Fact.setRawValue(param5);
+    _param6Fact.setRawValue(param6);
+    _param7Fact.setRawValue(param7);
 }
 
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
@@ -226,13 +226,13 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
     _syncFrameToAltitudeRelativeToHome();
     _syncCommandToSupportedCommand(QVariant(this->command()));
 
-    _param1Fact.setValue(other._param1Fact.value());
-    _param2Fact.setValue(other._param2Fact.value());
-    _param3Fact.setValue(other._param3Fact.value());
-    _param4Fact.setValue(other._param4Fact.value());
-    _param5Fact.setValue(other._param5Fact.value());
-    _param6Fact.setValue(other._param6Fact.value());
-    _param7Fact.setValue(other._param7Fact.value());
+    _param1Fact.setRawValue(other._param1Fact.rawValue());
+    _param2Fact.setRawValue(other._param2Fact.rawValue());
+    _param3Fact.setRawValue(other._param3Fact.rawValue());
+    _param4Fact.setRawValue(other._param4Fact.rawValue());
+    _param5Fact.setRawValue(other._param5Fact.rawValue());
+    _param6Fact.setRawValue(other._param6Fact.rawValue());
+    _param7Fact.setRawValue(other._param7Fact.rawValue());
 
     return *this;
 }
@@ -525,7 +525,7 @@ void MissionItem::setSequenceNumber(int sequenceNumber)
 void MissionItem::setCommand(MAV_CMD command)
 {
     if ((MAV_CMD)this->command() != command) {
-        _commandFact.setValue(command);
+        _commandFact.setRawValue(command);
         setDefaultsForCommand();
         emit commandChanged(this->command());
     }
@@ -540,7 +540,7 @@ void MissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
 void MissionItem::setFrame(MAV_FRAME frame)
 {
     if (this->frame() != frame) {
-        _frameFact.setValue(frame);
+        _frameFact.setRawValue(frame);
         frameChanged(frame);
     }
 }
@@ -548,7 +548,7 @@ void MissionItem::setFrame(MAV_FRAME frame)
 void MissionItem::setAutoContinue(bool autoContinue)
 {
     if (this->autoContinue() != autoContinue) {
-        _autoContinueFact.setValue(autoContinue);
+        _autoContinueFact.setRawValue(autoContinue);
     }
 }
 
@@ -748,7 +748,7 @@ QmlObjectListModel* MissionItem::comboboxFacts(void)
 
 QGeoCoordinate MissionItem::coordinate(void) const
 {
-    return QGeoCoordinate(_param5Fact.value().toDouble(), _param6Fact.value().toDouble(), _param7Fact.value().toDouble());
+    return QGeoCoordinate(_param5Fact.rawValue().toDouble(), _param6Fact.rawValue().toDouble(), _param7Fact.rawValue().toDouble());
 }
 
 void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
@@ -835,7 +835,7 @@ void MissionItem::_syncFrameToAltitudeRelativeToHome(void)
 {
     if (!_syncingAltitudeRelativeToHomeAndFrame) {
         _syncingAltitudeRelativeToHomeAndFrame = true;
-        _altitudeRelativeToHomeFact.setValue(relativeAltitude());
+        _altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
         _syncingAltitudeRelativeToHomeAndFrame = false;
     }
 }
@@ -844,7 +844,7 @@ void MissionItem::_syncSupportedCommandToCommand(const QVariant& value)
 {
     if (!_syncingSupportedCommandAndCommand) {
         _syncingSupportedCommandAndCommand = true;
-        _commandFact.setValue(value.toInt());
+        _commandFact.setRawValue(value.toInt());
         _syncingSupportedCommandAndCommand = false;
     }
 }
@@ -853,7 +853,7 @@ void MissionItem::_syncCommandToSupportedCommand(const QVariant& value)
 {
     if (!_syncingSupportedCommandAndCommand) {
         _syncingSupportedCommandAndCommand = true;
-        _supportedCommandFact.setValue(value.toInt());
+        _supportedCommandFact.setRawValue(value.toInt());
         _syncingSupportedCommandAndCommand = false;
     }
 }

src/MissionManager/MissionItem.h

@@ -95,7 +95,7 @@ public:
 
     // Property accesors
     
-    MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.value().toInt(); };
+    MavlinkQmlSingleton::Qml_MAV_CMD command(void) const { return (MavlinkQmlSingleton::Qml_MAV_CMD)_commandFact.cookedValue().toInt(); };
     QString         commandDescription  (void) const;
     QString         commandName         (void) const;
     QGeoCoordinate  coordinate          (void) const;
@@ -135,8 +135,8 @@ public:
 
     // C++ only methods
 
-    MAV_FRAME   frame       (void)  const { return (MAV_FRAME)_frameFact.value().toInt(); }
-    bool        autoContinue(void)  const { return _autoContinueFact.value().toBool(); }
+    MAV_FRAME   frame       (void)  const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
+    bool        autoContinue(void)  const { return _autoContinueFact.rawValue().toBool(); }
     double      param1      (void)  const { return _param1Fact.rawValue().toDouble(); }
     double      param2      (void)  const { return _param2Fact.rawValue().toDouble(); }
     double      param3      (void)  const { return _param3Fact.rawValue().toDouble(); }

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -389,7 +389,7 @@ void RadioConfigTest::_fullCalibration_test(void)
                 switchList << "RC_MAP_MODE_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_ACRO_SW";
                 
                 foreach (QString switchParam, switchList) {
-                    Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->value().toInt() != channel + 1);
+                    Q_ASSERT(_autopilot->getParameterFact(FactSystem::defaultComponentId, switchParam)->rawValue().toInt() != channel + 1);
                 }
                 
                 _rgFunctionChannelMap[function] = channel;
@@ -401,7 +401,7 @@ void RadioConfigTest::_fullCalibration_test(void)
         
         // If we aren't mapping this function during calibration, set it to the previous setting
         if (!found) {
-            _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->value().toInt();
+            _rgFunctionChannelMap[function] = _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[function].parameterName)->rawValue().toInt();
             qCDebug(RadioConfigTestLog) << "Assigning switch" << function << _rgFunctionChannelMap[function];
             if (_rgFunctionChannelMap[function] == 0) {
                 _rgFunctionChannelMap[function] = -1;   // -1 signals no mapping
@@ -465,8 +465,8 @@ void RadioConfigTest::_validateParameters(void)
             expectedParameterValue = chanIndex + 1; // 1-based parameter value
         }
         
-        qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt();
-        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedParameterValue);
+        qCDebug(RadioConfigTestLog) << "Validate" << chanFunction << _autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt();
+        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedParameterValue);
     }
 
     // Validate the channel settings. Note the channels are 1-based in parameter names.
@@ -480,13 +480,13 @@ void RadioConfigTest::_validateParameters(void)
 		int rcTrimExpected = _rgChannelSettingsValidate[chan].rcTrim;
         bool rcReversedExpected = _rgChannelSettingsValidate[chan].reversed;
 
-        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
+        int rcMinActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, minTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
+        int rcMaxActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, maxTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->value().toInt(&convertOk);
+        int rcTrimActual = _autopilot->getParameterFact(FactSystem::defaultComponentId, trimTpl.arg(oneBasedChannel))->rawValue().toInt(&convertOk);
         QCOMPARE(convertOk, true);
-        float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->value().toFloat(&convertOk);
+        float rcReversedFloat = _autopilot->getParameterFact(FactSystem::defaultComponentId, revTpl.arg(oneBasedChannel))->rawValue().toFloat(&convertOk);
         QCOMPARE(convertOk, true);
         bool rcReversedActual = (rcReversedFloat == -1.0f);
         
@@ -508,6 +508,6 @@ void RadioConfigTest::_validateParameters(void)
             expectedValue = _rgFunctionChannelMap[chanFunction] + 1; // 1-based
         }
         // qCDebug(RadioConfigTestLog) << chanFunction << expectedValue << mapParamsSet[RadioComponentController::_rgFunctionInfo[chanFunction].parameterName].toInt();
-        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->value().toInt(), expectedValue);
+        QCOMPARE(_autopilot->getParameterFact(FactSystem::defaultComponentId, RadioComponentController::_rgFunctionInfo[chanFunction].parameterName)->rawValue().toInt(), expectedValue);
     }
 }